發(fā)布時間：2018-05-14 05:31

  本文選題：并聯(lián)機構(gòu) + 剛體動力學　； 參考：《天津大學》2012年碩士論文

【摘要】：本文以類Diamond機構(gòu)為研究對象,逐步開展逆運動學分析、剛體動力學分析、尺度綜合、虛擬樣機設計與模態(tài)預估等研究。論文取得以下成果: □利用閉環(huán)矢量法構(gòu)造了類Diamond機構(gòu)的逆運動學分析模型,在此基礎上推導出該機構(gòu)的速度雅可比矩陣,進而基于速度雅可比矩陣對該機構(gòu)實施了奇異性分析,并借助算例驗證了逆運動學分析的有效性。 □以逆運動學分析為基礎,利用虛功原理建立了類Diamond機構(gòu)的動力學模型,并由此推導出該機構(gòu)的單軸最大驅(qū)動力矩的顯示表達,為動力學尺度綜合奠定了理論基礎。 □由于可以利用類Diamond機構(gòu)的尺度和慣性參數(shù)并結(jié)合機構(gòu)所屬位形顯示表達該機構(gòu)的單軸最大驅(qū)動力矩,且該單軸最大驅(qū)動力矩包含了該機構(gòu)完整的奇異性信息,故以其作為該機構(gòu)的動力學性能評價指標,通過對機構(gòu)的速度、精度和剛度實施分析,得出一組以速度雅可比矩陣最大、最小奇異值為基礎的性能約束條件,并在該條件約束下對機構(gòu)實施單調(diào)性分析,優(yōu)化出一組使類Diamond機構(gòu)全域動力學性能最優(yōu)的尺度參數(shù),為后續(xù)虛擬樣機設計與模態(tài)預估奠定了基礎。 □以動力學尺度綜合為基礎,并結(jié)合工程實踐經(jīng)驗,借助商用三維實體造型軟件設計類Diamond機構(gòu)的虛擬樣機,并利用商用有限元分析軟件預估該機構(gòu)在不同位形時的模態(tài)特性,進而提出該機構(gòu)的結(jié)構(gòu)優(yōu)化方法。
[Abstract]:In this paper, the inverse kinematics analysis, rigid body dynamics analysis, scale synthesis, virtual prototype design and modal prediction are carried out step by step. The results of the thesis are as follows: The inverse kinematics analysis model of the Diamond like mechanism is constructed by using the closed loop vector method, and the velocity Jacobian matrix of the mechanism is derived, and then the singularity analysis of the mechanism is carried out based on the velocity Jacobian matrix. The effectiveness of inverse kinematics analysis is verified by an example. Based on the inverse kinematics analysis, the dynamic model of the Diamond like mechanism is established by using the virtual work principle, and the display expression of the single axis maximum driving moment of the mechanism is deduced, which lays a theoretical foundation for the dynamic scale synthesis. -because the maximum driving torque of the mechanism can be expressed by using the scale and inertia parameters of the Diamond like mechanism and combined with the display of the configuration of the mechanism, and the single axis maximum driving moment contains the complete singularity information of the mechanism, Therefore, by analyzing the velocity, precision and stiffness of the mechanism, a set of performance constraints based on the maximum and minimum singular value of the velocity Jacobian matrix are obtained. Under the constraint of this condition, the monotonicity analysis of the mechanism is carried out, and a set of scale parameters are optimized to optimize the global dynamic performance of the Diamond like mechanism, which lays a foundation for the subsequent virtual prototype design and modal prediction. Based on dynamic scale synthesis and engineering experience, the virtual prototype of Diamond mechanism is designed by commercial 3D solid modeling software, and the modal characteristics of the mechanism in different configurations are estimated by commercial finite element analysis software. Furthermore, the structure optimization method of the mechanism is proposed.
【學位授予單位】：天津大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH112

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本文編號：1886578