發(fā)布時(shí)間：2018-05-27 01:17

  本文選題：并聯(lián)機(jī)構(gòu) + 動剛度　； 參考：《河北工程大學(xué)》2014年碩士論文

【摘要】：近些年來，隨著全球生產(chǎn)力的進(jìn)一步提高，能夠適應(yīng)更為復(fù)雜的生產(chǎn)環(huán)境和滿足更為多樣化的市場需求的多功能機(jī)構(gòu)和新型系統(tǒng)，成為了機(jī)械制造業(yè)爭相探索和研究的方向。此時(shí)并聯(lián)機(jī)構(gòu)應(yīng)運(yùn)而生，相對于串聯(lián)機(jī)構(gòu)來說，它是一種新型的機(jī)構(gòu)，它的優(yōu)點(diǎn)主要在于其具有更高的剛度、更高精度以及更小的誤差，而這些優(yōu)點(diǎn)恰好滿足了現(xiàn)代機(jī)械追求的目標(biāo)，才使得并聯(lián)機(jī)構(gòu)得到廣泛的應(yīng)用。在并聯(lián)機(jī)構(gòu)中其剛度分析及性能評價(jià)是并聯(lián)構(gòu)型裝備結(jié)構(gòu)設(shè)計(jì)的重要內(nèi)容，，如何能找到適合概念設(shè)計(jì)需求的剛度解析建模方法與評價(jià)方法，研究滿足詳細(xì)設(shè)計(jì)需求的整機(jī)剛度有限元快速精確建模方法及實(shí)驗(yàn)方法，以期為并聯(lián)構(gòu)型裝備設(shè)計(jì)提供更為準(zhǔn)確的剛度分析及性能評價(jià)模型，是擺在機(jī)械制造商面前的一大挑戰(zhàn)。這也是本文的主要研究內(nèi)容。 本文以3-PRS并聯(lián)機(jī)構(gòu)為研究模型，首先對其進(jìn)行了運(yùn)動學(xué)分析，得到了此模型的雅克比矩陣，通過其雅克比矩陣建立了此模型的傳統(tǒng)剛度矩陣模型。 應(yīng)用有限元軟件ANSYS Workbench對3-PRS并聯(lián)機(jī)構(gòu)進(jìn)行了全面的動力學(xué)分析。在模態(tài)分析中得到的是其固有頻率和振型圖。諧響應(yīng)分析得到其承受載荷后的頻率圖。瞬態(tài)動力學(xué)分析最終得到的是此模型在運(yùn)動過程中的不同時(shí)間、不同位姿時(shí)的剛度，即其動剛度。此種方法避免了需要針對不同位形對有限元模型進(jìn)行網(wǎng)格重劃和解算。 選擇對3-PRS并聯(lián)機(jī)構(gòu)有較大影響的上平臺半徑、鉸鏈中轉(zhuǎn)動桿的橫截面直徑以及鉸鏈中移動桿的橫截面邊長為研究對象，應(yīng)用正交試驗(yàn)的方法，對具有代表性的尺寸數(shù)據(jù)進(jìn)行組合，建立正交表。應(yīng)用ANSYS Workbench軟件對正交表中的尺寸組合進(jìn)行靜力學(xué)分析，得到其靜剛度。應(yīng)用最小二乘法對最終的正交表中的數(shù)據(jù)進(jìn)行擬合，得到兩個(gè)剛度回歸模型，挑選一種最佳的回歸模型。 應(yīng)用MINITAB軟件對3-PRS并聯(lián)機(jī)構(gòu)的剛度模型進(jìn)行驗(yàn)證，并進(jìn)行最佳子集回歸分析、逐步回歸分析、前向選擇回歸分析以及后向淘汰回歸分析。應(yīng)用MATLAB軟件得到單因素以及雙因素對于3-PRS并聯(lián)機(jī)構(gòu)的影響情況。全面的驗(yàn)證分析為今后對于并聯(lián)機(jī)構(gòu)的剛度研究提供新的方向和依據(jù)。
[Abstract]:In recent years, with the further improvement of global productivity, the multi-functional institutions and new systems, which can adapt to more complex production environments and meet more diversified market demand, have become the direction of the exploration and research of the machinery manufacturing industry. The main advantages of the mechanism are that they have higher stiffness, higher accuracy and smaller errors. These advantages just meet the goal of modern machinery and make the parallel mechanism widely used. In parallel mechanism, its stiffness analysis and performance evaluation are important contents of the structure design of parallel configuration equipment. In order to provide more accurate stiffness analysis and performance evaluation model for the design of parallel configuration equipment, the rigid analytical modeling method and evaluation method suitable for the requirement of conceptual design can be found to meet the detailed design requirements, and it can provide more accurate stiffness analysis and performance evaluation model for the design of parallel configuration equipment. Challenge. This is also the main research content of this article.
In this paper, the 3-PRS parallel mechanism is used as the research model. First, the kinematics analysis is carried out, and the Jacobian matrix of the model is obtained. The traditional stiffness matrix model of the model is established by its Jacobian matrix.
The finite element software ANSYS Workbench is used to carry out a comprehensive dynamic analysis of the 3-PRS parallel mechanism. In the modal analysis, the natural frequency and vibration pattern are obtained. The harmonic response analysis is used to obtain the frequency chart after the load is subjected. The transient dynamic analysis is finally obtained by the different time and position of the model in the movement process. This method avoids the need to remeshing and computing the finite element model for different configurations.
The radius of the upper platform which has great influence on the 3-PRS parallel mechanism, the cross section diameter of the hinge in the hinge and the cross section length of the movable bar in the hinge are studied. The orthogonal test is used to combine the representative size data with the orthogonal test. The size group in the orthogonal table should be used by the ANSYS Workbench software. The static stiffness is analyzed and the static stiffness is obtained. Using the least square method to fit the data in the final orthogonal table, two stiffness regression models are obtained, and the best regression model is selected.
The stiffness model of 3-PRS parallel mechanism is verified by MINITAB software, and the optimal subset regression analysis, stepwise regression analysis, forward selection regression analysis and backward elimination regression analysis are carried out. The effect of single factor and double factor on 3-PRS parallel mechanism is obtained by MATLAB software. The comprehensive verification analysis is for the future. The stiffness research of parallel mechanism provides new direction and basis.
【學(xué)位授予單位】：河北工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TH112

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