本文選題：空間曲柄-擺桿機構(gòu) + 旋轉(zhuǎn)-擺動��； 參考：《鄭州大學(xué)》2011年碩士論文

【摘要】：迄今為止,人們對空間RCCR以及RCRCR機構(gòu)的研究均集中在輸入、輸出端偏距相等的形態(tài),由于其具有良好的等速傳遞性,研究人員將其命名為空間雙曲柄機構(gòu)。而對于輸入、輸出端偏距不等的形態(tài),研究現(xiàn)狀只停留在機構(gòu)具有旋轉(zhuǎn)—擺動輸入輸出關(guān)系的認(rèn)識。由于機構(gòu)還具有以下優(yōu)點：機構(gòu)簡單、構(gòu)件數(shù)目少并且以低副連接、耐磨損性好、構(gòu)件形狀簡單便于制造裝配,且在不考慮裝配干涉情況下,軸間夾角能實現(xiàn)(0°,180°)范圍內(nèi)的任意取值,因此本文將輸入、輸出端偏距不等的形態(tài)命名為空間曲柄—擺桿機構(gòu),旨在對其進(jìn)行更為充分的理論研究,為推廣應(yīng)用提供可靠的佐證。 本文采用理論分析和計算機仿真相結(jié)合的方法對理想無摩擦狀態(tài)下的空間曲柄—擺桿機構(gòu)進(jìn)行了以下幾個方面的研究： 1)空間曲柄—擺桿機構(gòu)的運動學(xué)分析。采用平面投影法簡化空間矢量閉合方程,得到各個構(gòu)件的運動參數(shù)表達(dá)式。在SolidWorks環(huán)境中對三維模型進(jìn)行運動學(xué)仿真,驗證了機構(gòu)的旋轉(zhuǎn)—擺動輸入輸出關(guān)系,以及理論分析的正確性,并繪制出運動特性與機構(gòu)主要結(jié)構(gòu)參數(shù)之間的對應(yīng)變化曲線。 2)空間曲柄—擺桿機構(gòu)的動態(tài)靜力分析。采用單個示力副法分別求解出空間曲柄—擺桿(Ⅰ型)和(Ⅱ型)機構(gòu)各個運動副中的約束反力/力矩以及輸入旋轉(zhuǎn)驅(qū)動。在SolidWorks環(huán)境中分別建立純剛體系統(tǒng)和使用柔性連接的動力學(xué)仿真模型,比較分析兩種模型下的仿真結(jié)果,并繪制出主要力學(xué)參數(shù)與機構(gòu)結(jié)構(gòu)參數(shù)之間的對應(yīng)變化曲線。 3)兩種類型空間曲柄—擺桿機構(gòu)的比較。根據(jù)對兩種類型機構(gòu)的自由度計算、運動學(xué)分析以及動態(tài)靜力分析,總結(jié)歸納二者的異同。 4)空間曲柄—擺桿機構(gòu)的總質(zhì)心軌跡分析。利用坐標(biāo)變換方式得到機構(gòu)總質(zhì)心軌跡各個分量表達(dá)式并繪制出三維曲線。并從仿真分析中提取出機構(gòu)總質(zhì)心軌跡,驗證了理論分析的正確性。
[Abstract]:Up to now, the research on space RCCR and RCRCR mechanism is focused on the input and the output offset is equal. Because of its good isokinetic transitivity, the researchers call it the spatial double crank mechanism. However, for the input and output with unequal offset, the research status only stays on the understanding that the mechanism has a rotation-swing input-output relationship. The mechanism also has the following advantages: simple mechanism, small number of components, low pair connection, good wear resistance, simple component shape and easy assembly, and without considering assembly interference, The angle between shafts can achieve arbitrary values in the range of 0 擄or 180 擄). Therefore, this paper named the spatial crank-pendulum mechanism with different input and output offset, in order to study it more fully and to provide reliable evidence for its popularization and application. In this paper, the theoretical analysis and computer simulation are used to study the space crank-pendulum mechanism in the ideal frictionless condition: 1) the kinematic analysis of the spatial crank-pendulum mechanism. The space vector closure equation is simplified by plane projection method, and the expressions of motion parameters of each component are obtained. The kinematics simulation of the 3D model in SolidWorks environment verifies the rotation-swinging input-output relation of the mechanism and the correctness of the theoretical analysis. The corresponding curves between the motion characteristics and the main structural parameters of the mechanism are plotted. 2) the dynamic static analysis of the spatial crank-pendulum mechanism. A single force pair method is used to solve the constrained reaction force / torque and input rotation drive of the spatial crank-pendulum rod (type I) and the (type II) mechanism respectively. Dynamic simulation models of pure rigid body system and flexible connection are established in SolidWorks environment, and the simulation results of the two models are compared and analyzed. The corresponding curves between the main mechanical parameters and the structural parameters of the mechanism are plotted. 3) the comparison of the two types of spatial crank-pendulum mechanism is given. According to the degree of freedom calculation, kinematics analysis and dynamic static analysis of the two types of mechanisms, the similarities and differences between them are summarized. 4) the total centroid trajectory analysis of the spatial crank-pendulum mechanism. The expressions of each component of the mechanism's total centroid locus are obtained by coordinate transformation and the 3D curves are drawn. The track of the total centroid of the mechanism is extracted from the simulation analysis, which verifies the correctness of the theoretical analysis.
【學(xué)位授予單位】：鄭州大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2011
【分類號】：TH112

【引證文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前2條

1 熊淵;基于球面4R機構(gòu)的運動學(xué)和力學(xué)理論與仿真對比研究[D];鄭州大學(xué);2012年

2 程果;三對傳力桿空間相交軸RCCR機構(gòu)的力學(xué)分析—傳力桿受推力時的影響[D];鄭州大學(xué);2012年

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本文編號：2049472