本文選題：Stewart并聯機構 + 高頻試驗臺結構　； 參考：《哈爾濱工業(yè)大學》2012年碩士論文

【摘要】：Stewart并聯機構由于其剛度大、承載能力強、精度高等優(yōu)點在現代工業(yè)中得到廣泛應用，液壓驅動的Stewart并聯機構與串聯機構相比優(yōu)勢很多，但頻率較低，限制了其在有高頻需求的行業(yè)中的應用。 本文研究的高頻試驗臺結構能夠克服Stewart并聯機構頻率低的缺點，使試驗臺能夠達到較高的頻率，滿足某些系統(tǒng)的高頻要求。 本文首先介紹了高頻試驗臺的結構進行，了解其結構特點，，確定機構參數。在機構分析的基礎上進行運動學分析，求解液壓缸的位置反解和正解、速度和加速度，得到了上平臺的廣義速度與液壓缸速度之間的Jacobian矩陣，為進行動力學分析打下了基礎。 本文采用簡潔高效的Kane方法建立動力學模型。首先根據構件之間的運動關系求得了各個運動構件的Jacobian矩陣，然后得到了運動構件的速度對于廣義速度的偏速度和偏角速度，這是求解Kane方程的基礎。然后得出主動力和慣性力在廣義速度方向上的廣義主動力和廣義慣性力，最后根據Kane方程得出多體系統(tǒng)動力學方程。編寫了M程序進行多剛體系統(tǒng)動力學的運算。 在ADAMS仿真軟件中建立機構的參數化模型，進行運動學和動力學的仿真，并與理論分析的結果進行對比，驗證了模型和理論分析的可靠性。 最后對機構的工作空間和奇異性進行分析，得到了定姿態(tài)位置空間和定位置姿態(tài)空間，為機構的設計提供了基礎。同時也對剛度和固有頻率進行了分析，更進一步的了解了結構的性能。
[Abstract]:Stewart parallel mechanism has been widely used in modern industry because of its large stiffness, strong bearing capacity and high precision. The hydraulic driven Stewart parallel mechanism has many advantages over series mechanism, but its frequency is low. It limits its application in industries with high frequency demand. The structure of the high frequency test-bed studied in this paper can overcome the shortcoming of low frequency of Stewart parallel mechanism, make the test bed achieve higher frequency and meet the high frequency requirement of some systems. In this paper, the structure of the high-frequency test rig is introduced, and the structure characteristics are understood, and the mechanism parameters are determined. The kinematics analysis is carried out on the basis of mechanism analysis, and the position inverse solution and positive solution, velocity and acceleration of the hydraulic cylinder are solved, and the Jacobian matrix between the generalized velocity and the cylinder velocity of the upper platform is obtained, which lays the foundation for the dynamic analysis. In this paper, a simple and efficient Kane method is used to establish the kinetic model. Firstly, the Jacobian matrix of each moving component is obtained according to the motion relation between the components, and then the partial velocity and angular velocity of the moving component to the generalized velocity are obtained, which is the basis of solving the Kane equation. Then the generalized principal force and generalized inertial force in the direction of generalized velocity are obtained. Finally, the dynamic equation of multi-body system is obtained according to Kane equation. The M program is written to calculate the dynamics of multi rigid body system. The parameterized model of the mechanism was established in Adams simulation software, and the kinematics and dynamics were simulated. The reliability of the model and the theoretical analysis was verified by comparing the results with the results of theoretical analysis. Finally, the workspace and singularity of the mechanism are analyzed, and the fixed attitude space and the fixed position attitude space are obtained, which provides the basis for the design of the mechanism. At the same time, the stiffness and natural frequency are analyzed, and the performance of the structure is further understood.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH112

【參考文獻】

相關期刊論文 前3條

1 姚裕,吳洪濤,張召明;基于Kane方法的Stewart傳感器動力學及固有頻率分析[J];動力學與控制學報;2004年02期

2 張建政;劉偉;高峰;;6-PSS并聯機器人動力學模型的牛頓—歐拉方法[J];機械設計與研究;2007年03期

3 張國偉,宋偉剛;并聯機器人動力學問題的Kane方法[J];系統(tǒng)仿真學報;2004年07期

本文編號：2047753