本文選題：三平動(dòng)并聯(lián)機(jī)構(gòu) + 型綜合　； 參考：《哈爾濱工業(yè)大學(xué)》2012年碩士論文

【摘要】：并聯(lián)機(jī)構(gòu)與傳統(tǒng)串聯(lián)機(jī)構(gòu)相比有剛度大，承載能力強(qiáng)，重復(fù)誤差小，慣性小的優(yōu)點(diǎn)。特別是具有相同且對(duì)稱(chēng)分支結(jié)構(gòu)的三平動(dòng)自由度并聯(lián)機(jī)構(gòu)具有更多的優(yōu)點(diǎn)。另外，閉環(huán)結(jié)構(gòu)具有摩擦小，加工簡(jiǎn)單，能增加機(jī)構(gòu)剛度的優(yōu)點(diǎn)。此外，隨著高速、高精度要求的提出，關(guān)節(jié)間隙引起的機(jī)構(gòu)末端誤差不容忽視。因此，系統(tǒng)地對(duì)單支鏈中含有閉環(huán)的三平動(dòng)并聯(lián)機(jī)構(gòu)進(jìn)行綜合和分析具有廣泛而重大的意義。 本文主要研究?jī)?nèi)容包括對(duì)含閉環(huán)的三平動(dòng)并聯(lián)機(jī)構(gòu)的綜合，并從中選擇一種機(jī)構(gòu)，確定其尺寸后，對(duì)其進(jìn)行剛度分析及考慮關(guān)節(jié)間隙的機(jī)構(gòu)末端位姿誤差分析。主要研究?jī)?nèi)容包括如下： 引入螺旋理論，對(duì)4種新型的閉環(huán)進(jìn)行了自由度分析，并將其考慮進(jìn)了三平動(dòng)并聯(lián)機(jī)構(gòu)的型綜合，得到了若干種新型的機(jī)構(gòu)。并從中選擇了一種，作為后續(xù)分析的對(duì)象。 分析了機(jī)構(gòu)的結(jié)構(gòu)并得到了機(jī)構(gòu)正反解及速度雅克比矩陣，在雅克比矩陣的條件數(shù)的基礎(chǔ)上，對(duì)機(jī)構(gòu)進(jìn)行了尺度綜合得到了機(jī)構(gòu)的尺寸。 計(jì)算了機(jī)構(gòu)的全局雅克比矩陣并在此基礎(chǔ)上得到了機(jī)構(gòu)的剛度矩陣。在引入了CSV方法的基礎(chǔ)上，分析了機(jī)構(gòu)剛度在工作空間內(nèi)中某一平面內(nèi)的分布，并對(duì)結(jié)果進(jìn)行分析，得出了一些有意義的結(jié)論。 通過(guò)研究末端外載荷與關(guān)節(jié)受力、關(guān)節(jié)受力與關(guān)節(jié)位移、關(guān)節(jié)局部誤差與末端誤差之間的映射關(guān)系，最終得到了末端外載荷與末端位姿誤差之間的映射關(guān)系，并給定結(jié)構(gòu)尺寸計(jì)算了機(jī)構(gòu)末端位姿誤差在空間中的分布，并對(duì)結(jié)果進(jìn)行了分析。
[Abstract]:Compared with the traditional series mechanism, the parallel mechanism has the advantages of large stiffness, strong bearing capacity, small repetition error and small inertia. Especially, the parallel mechanism with the same and symmetrical branches has more advantages. In addition, the closed-loop structure has the advantages of small friction, simple processing and can increase the stiffness of the mechanism. In addition, with the requirement of high speed and high precision, the end error caused by joint clearance can not be ignored. Therefore, it is of great significance to synthesize and analyze tri-parallel mechanism with closed loop in single branching chain systematically. The main research contents of this paper include the synthesis of the three-parallel mechanism with closed loop and the selection of a kind of mechanism. After determining the size of the mechanism, the stiffness analysis and the error analysis of the end position and pose of the mechanism considering the joint clearance are carried out. The main contents of the study are as follows: In this paper, the helical theory is introduced to analyze the degrees of freedom of four new closed-loop systems, which are taken into account in the synthesis of three parallel mechanisms, and some new types of mechanisms are obtained. And from the selection of one, as the object of subsequent analysis. The structure of the mechanism is analyzed and the forward and inverse solutions of the mechanism and the velocity Jacobian matrix are obtained. Based on the condition number of the Jacobian matrix, the dimensions of the mechanism are obtained by scale synthesis. The global Jacobian matrix of the mechanism is calculated and the stiffness matrix of the mechanism is obtained. Based on the introduction of CSV method, the distribution of mechanism stiffness in a certain plane in the workspace is analyzed, and the results are analyzed, and some meaningful conclusions are obtained. By studying the mapping relationship between the end external load and the joint force, the joint force and the joint displacement, the joint local error and the terminal error, the mapping relationship between the end external load and the terminal position error is obtained. The spatial distribution of the end position error of the mechanism is calculated and the results are analyzed.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類(lèi)號(hào)】：TH112

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