本文選題：6-PSS并聯(lián)機(jī)構(gòu) + 彈性動力學(xué)分析��； 參考：《重慶大學(xué)》2012年碩士論文

【摘要】：并聯(lián)機(jī)構(gòu)以其剛度大、運動精度高、承載能力強(qiáng)以及運動慣量小等優(yōu)點，在眾多工業(yè)領(lǐng)域得到廣泛應(yīng)用。并聯(lián)機(jī)構(gòu)的精度是其性能的重要指標(biāo)，，要使其精度得到提高，就要對引起機(jī)構(gòu)末端位姿產(chǎn)生誤差的各項因素進(jìn)行分析研究，以達(dá)到對其末端位姿誤差進(jìn)行補(bǔ)償?shù)哪康�，從而提高其運動精度。 本文以一種型式為6-PSS并聯(lián)機(jī)構(gòu)的風(fēng)洞實驗運動控制裝置為研究對象，對其進(jìn)行了誤差分析和補(bǔ)償?shù)难芯�，以使機(jī)構(gòu)末端位姿精度能夠達(dá)到實驗要求。其主要工作包括機(jī)構(gòu)的運動學(xué)分析、動力學(xué)分析、誤差分析、誤差參數(shù)辨識以及誤差的補(bǔ)償。 結(jié)合6-PSS并聯(lián)機(jī)構(gòu)的結(jié)構(gòu)特點，應(yīng)用速度投影法求得了機(jī)構(gòu)的雅克比矩陣，以及二階影響系數(shù)矩陣，從而得到機(jī)構(gòu)各構(gòu)件的速度及加速度的表達(dá)式，并在此基礎(chǔ)建立機(jī)構(gòu)的剛體系統(tǒng)動力模型，然后，進(jìn)一步將連桿看作彈性桿，應(yīng)用有限元法建立6-PSS并聯(lián)機(jī)構(gòu)的彈性動力學(xué)模型。 綜合考慮6-PSS并聯(lián)機(jī)構(gòu)各項運動學(xué)誤差，應(yīng)用矩陣微分法建立機(jī)構(gòu)的誤差分析模型；根據(jù)機(jī)構(gòu)總誤差傳遞矩陣的型式，應(yīng)用微分疊加原理對機(jī)構(gòu)各單項誤差源的特性進(jìn)行研究，分析各單項誤差源對末端位姿誤差的影響特性；應(yīng)用矩陣奇異值分解理論推得機(jī)構(gòu)的誤差敏感度的表達(dá)式，并對其特性進(jìn)行分析計算；對機(jī)構(gòu)彈性誤差及鉸鏈間隙誤差進(jìn)行了分析和計算。 應(yīng)用激光跟蹤測量法測得6-PSS并聯(lián)機(jī)構(gòu)的末端實際位姿，在考慮所有靜態(tài)誤差的基礎(chǔ)上，建立一種可以準(zhǔn)確地將桿長誤差和鉸鏈間隙誤差分離開的誤差辨識模型，并應(yīng)用最小二乘法對誤差辨識模型進(jìn)行求解，從而實現(xiàn)誤差參數(shù)的辨識。 應(yīng)用軟件補(bǔ)償法對所有靜態(tài)誤差和動態(tài)誤差進(jìn)行補(bǔ)償，在6-PSS并聯(lián)機(jī)構(gòu)運動過程中，將鉸鏈間隙誤差及連桿彈性變形誤差等效為上下鉸鏈位置誤差來處理，然后對機(jī)構(gòu)運動學(xué)參數(shù)進(jìn)行修正，對修正后的運動學(xué)逆解模型進(jìn)行求解，即可實現(xiàn)機(jī)構(gòu)的誤差補(bǔ)償，從而提高機(jī)構(gòu)的運動精度。 本文將并聯(lián)機(jī)構(gòu)看作剛?cè)狁詈舷到y(tǒng)的基礎(chǔ)上，對機(jī)構(gòu)進(jìn)行誤差分析和補(bǔ)償過程中綜合考慮了靜、動態(tài)誤差，很大的提高了機(jī)構(gòu)的運動精度，對此類型的并聯(lián)機(jī)構(gòu)的理論研究及實際應(yīng)用具有極大的指導(dǎo)意義，也為此類并聯(lián)機(jī)構(gòu)應(yīng)用領(lǐng)域的拓展奠定了基礎(chǔ)。
[Abstract]:Parallel mechanism has been widely used in many industrial fields because of its high stiffness, high precision, strong bearing capacity and small inertia. The precision of parallel mechanism is an important index of its performance. In order to improve its precision, it is necessary to analyze and study the factors that cause the error of the end position and pose of the mechanism, in order to compensate the error of the end position and pose. In this paper, a wind tunnel experimental motion control device of 6-PSS parallel mechanism is taken as the research object, and the error analysis and compensation are carried out, so that the precision of the end position and pose of the mechanism can meet the experimental requirements. The main work includes kinematics analysis, dynamics analysis, error parameter identification and error compensation. Combined with the structural characteristics of 6-PSS parallel mechanism, the Jacobian matrix of the mechanism is obtained by using the velocity projection method. And the second order influence coefficient matrix, so as to obtain the expressions of velocity and acceleration of each component of the mechanism, and then establish the dynamic model of the rigid body system of the mechanism on this basis, and further regard the connecting rod as an elastic rod. The elastic dynamics model of 6-PSS parallel mechanism is established by using finite element method. Considering the kinematics errors of 6-PSS parallel mechanism, the error analysis model of the mechanism is established by using matrix differential method. Using the principle of differential superposition, the characteristics of each single error source of the mechanism are studied, and the influence of each single error source on the terminal position error is analyzed, and the expression of error sensitivity of the mechanism is derived by using the matrix singular value decomposition theory. The elastic error and hinge clearance error of the mechanism are analyzed and calculated. The actual position and pose of 6-PSS parallel mechanism are measured by laser tracking method, and all static errors are considered. An error identification model, which can accurately separate rod length error from hinge gap error, is established, and the least square method is used to solve the error identification model. The software compensation method is used to compensate all the static and dynamic errors in the 6-PSS parallel mechanism. The clearance error of hinge and the error of elastic deformation of connecting rod are equivalent to the position error of upper and lower hinges, then the kinematics parameters of the mechanism are corrected, and the modified inverse kinematics solution model is solved, and the error compensation of the mechanism can be realized. In order to improve the kinematic accuracy of the mechanism, the parallel mechanism is regarded as a rigid-flexible coupling system in this paper. In the process of error analysis and compensation of the mechanism, the static and dynamic errors are considered comprehensively, and the kinematic accuracy of the mechanism is greatly improved. The theoretical research and practical application of this type of parallel mechanism are of great significance, and it also lays a foundation for the expansion of the application field of this kind of parallel mechanism.
【學(xué)位授予單位】：重慶大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH112

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