本文選題：并聯(lián)機(jī)構(gòu) + 雅可比矩陣��； 參考：《南京理工大學(xué)》2012年碩士論文

【摘要】：為了并聯(lián)機(jī)構(gòu)順利地應(yīng)用于工作實(shí)際,設(shè)法使其向具有結(jié)構(gòu)簡(jiǎn)單、工作空間大、控制容易等特點(diǎn)方向發(fā)展的相關(guān)研究越來(lái)越受到人們的關(guān)注 本文用附加一個(gè)冗余滑動(dòng)的方法構(gòu)建一種新型三平動(dòng)大工作空間并聯(lián)機(jī)構(gòu)。并開(kāi)展構(gòu)型優(yōu)化、位置解析、奇異性、承載能力特性、剛度建模等相關(guān)研究。 首先根據(jù)該型機(jī)構(gòu)的組成和結(jié)構(gòu)特點(diǎn),利用矢量法建立機(jī)構(gòu)的位置正解和反解方程以及速度雅可比矩陣,利用速度雅可比對(duì)機(jī)構(gòu)的奇異性進(jìn)行分析。 其次在考慮伸縮桿伸縮范圍、球鉸鏈轉(zhuǎn)角限制及桿件干涉等約束時(shí),搜索出機(jī)構(gòu)可達(dá)工作空間邊界。并以工作空間體積為評(píng)價(jià)指標(biāo),分析機(jī)構(gòu)基本參數(shù)對(duì)工作空間的影響,找出影響工作空間的敏感因素,對(duì)實(shí)現(xiàn)機(jī)構(gòu)大工作空間進(jìn)行詳細(xì)論述。 接著應(yīng)用機(jī)構(gòu)學(xué)理論求出機(jī)構(gòu)的力雅可比矩陣,定義承載能力性能指標(biāo),描繪該指標(biāo)在工作空間內(nèi)的分布情況,分析機(jī)構(gòu)的力承載能力特性,為機(jī)構(gòu)應(yīng)用提供指導(dǎo)。結(jié)合機(jī)構(gòu)的雅可比矩陣,建立機(jī)構(gòu)的整體剛度與單伸縮桿剛度模型。求得各向剛度在工作空間的分布情況。提出面平均剛度總體性能評(píng)價(jià)指標(biāo),并分析機(jī)構(gòu)的結(jié)構(gòu)參數(shù)對(duì)剛度的影響情況。為提高并聯(lián)機(jī)構(gòu)的性能,進(jìn)行結(jié)構(gòu)的改進(jìn)提供理論依據(jù)。
[Abstract]:In order to apply the parallel mechanism smoothly to the work practice, people pay more and more attention to the development of parallel mechanism in the direction of simple structure, large workspace and easy control. In this paper, a new tri-translational large workspace parallel mechanism is constructed by adding a redundant sliding mechanism. Research on configuration optimization, position analysis, singularity, bearing capacity, stiffness modeling and so on is carried out. Firstly, according to the composition and structural characteristics of the mechanism, the forward and inverse solution equations and the velocity Jacobian matrix of the mechanism are established by using the vector method, and the singularity of the mechanism is analyzed by using the velocity Jacobian. Secondly, when considering the extension range of telescopic rod, the restriction of spherical hinge angle and the interference of rod, the boundary of reachable workspace of the mechanism is obtained. Taking the workspace volume as the evaluation index, this paper analyzes the influence of the basic parameters of the mechanism on the workspace, finds out the sensitive factors affecting the workspace, and discusses in detail the realization of the large workspace of the mechanism. Then the force Jacobian matrix of the mechanism is obtained by applying the theory of mechanism, the performance index of bearing capacity is defined, the distribution of the index in the workspace is described, and the characteristics of the force bearing capacity of the mechanism are analyzed, which provides guidance for the application of the mechanism. Combined with Jacobian matrix of the mechanism, the global stiffness and the stiffness model of the single telescopic bar are established. The distribution of stiffness in workspace is obtained. The overall performance evaluation index of average surface stiffness is presented, and the influence of structure parameters on stiffness is analyzed. It provides theoretical basis for improving the performance of parallel mechanism and improving the structure.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH112

【引證文獻(xiàn)】

相關(guān)博士學(xué)位論文 前1條

1 曹曉寧;高速列車轉(zhuǎn)向架測(cè)試臺(tái)3-六自由度平臺(tái)運(yùn)動(dòng)學(xué)及工作空間研究[D];吉林大學(xué);2013年

相關(guān)碩士學(xué)位論文 前2條

1 王少鋒;火箭燃?xì)鉀_擊載荷識(shí)別平臺(tái)的設(shè)計(jì)與研究[D];南京理工大學(xué);2013年

2 田光輝;三維鼠標(biāo)系統(tǒng)設(shè)計(jì)及性能分析[D];山東理工大學(xué);2013年

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本文編號(hào)：1990785