本文選題：2-PSS(2-PRR)R機(jī)構(gòu) + 運(yùn)動(dòng)學(xué)分析��； 參考：《天津大學(xué)》2012年碩士論文

【摘要】：本論文密切結(jié)合國(guó)家裝備制造業(yè)對(duì)五坐標(biāo)混聯(lián)構(gòu)型裝備的迫切需求,深入研究了一種新型兩平兩轉(zhuǎn)(2T2R)自由度并聯(lián)機(jī)構(gòu)2-PSS(2-PRR)R的設(shè)計(jì)方法,主要內(nèi)容涉及結(jié)構(gòu)學(xué)、逆運(yùn)動(dòng)學(xué)、位置正解、工作空間、奇異性及尺度綜合等方面。本文取得以下研究成果: (1)結(jié)構(gòu)學(xué)分析。建造了2-PSS(2-PRR)R機(jī)構(gòu)實(shí)體模型,詳細(xì)介紹了其結(jié)構(gòu)組成原理,繪制了機(jī)構(gòu)的結(jié)構(gòu)簡(jiǎn)圖,并借助螺旋理論揭示其末端的自由度數(shù)目與類(lèi)型,實(shí)現(xiàn)了結(jié)構(gòu)學(xué)分析。 (2)運(yùn)動(dòng)學(xué)分析。基于閉環(huán)矢量法,構(gòu)建了2-PSS(2-PRR)R機(jī)構(gòu)的逆運(yùn)動(dòng)學(xué)分析模型,獲得了操作空間與關(guān)節(jié)空間之間的位置、速度及加速度映射關(guān)系,為機(jī)構(gòu)運(yùn)動(dòng)學(xué)設(shè)計(jì)(尺度綜合)奠定了基礎(chǔ)。此外,借助Mathematica數(shù)學(xué)工具軟件獲得了該機(jī)構(gòu)的全部位置正解。 (3)工作空間和奇異性分析。針對(duì)2-PSS(2-PRR)R機(jī)構(gòu)的具體結(jié)構(gòu)組成,定義了兩種工作空間;計(jì)及驅(qū)動(dòng)范圍、運(yùn)動(dòng)副轉(zhuǎn)角范圍等工程約束,分別利用不同搜索算法獲得了該機(jī)構(gòu)的兩種工作空間,并側(cè)重研究了關(guān)鍵設(shè)計(jì)參數(shù)對(duì)機(jī)構(gòu)工作空間的影響。通過(guò)對(duì)約束方程求導(dǎo)建立了雅可比矩陣,并深入研究了該并聯(lián)機(jī)構(gòu)的奇異問(wèn)題。 (4)尺度綜合。建立了2-PSS(2-PRR)R機(jī)構(gòu)的無(wú)量綱雅可比矩陣(速度映射算子矩陣),并以其代數(shù)特征為基礎(chǔ),構(gòu)造了恰當(dāng)?shù)倪\(yùn)動(dòng)學(xué)性能評(píng)價(jià)指標(biāo);借助單調(diào)性分析,揭示了關(guān)鍵設(shè)計(jì)參數(shù)對(duì)機(jī)構(gòu)運(yùn)動(dòng)學(xué)性能的影響;在(2)、(3)基礎(chǔ)上,根據(jù)給定的工作空間,并計(jì)及相關(guān)的幾何、工程約束,通過(guò)MATLAB求解一類(lèi)多變量含約束的非線(xiàn)性?xún)?yōu)化問(wèn)題,實(shí)現(xiàn)了機(jī)構(gòu)的運(yùn)動(dòng)學(xué)設(shè)計(jì)。
[Abstract]:In this paper, a new design method of 2-PSS (2-PRR) R of two parallel mechanisms with two flat and two rotation (2T2R) degrees of freedom is studied in close consideration of the urgent needs of the national equipment manufacturing industry for the five-coordinate hybrid configuration. The main contents of this paper are related to structural and inverse kinematics. Positive position solution, workspace, singularity and scale synthesis. The main results are as follows: (1) structural analysis. The solid model of 2-PSS (2-PRR) R mechanism is constructed, the principle of its structure is introduced in detail, the structure diagram of the mechanism is drawn, and the number and type of degrees of freedom at the end of the mechanism are revealed with the help of helical theory, and the structural analysis is realized. (2) Kinematics analysis. Based on the closed-loop vector method, the inverse kinematics analysis model of 2-PSS (2-PRR) R mechanism is constructed. The mapping relations of position, velocity and acceleration between the operating space and the joint space are obtained, which lays a foundation for the kinematics design (scale synthesis) of the mechanism. In addition, the positive solutions of all positions of the mechanism are obtained by means of Mathematica software. (3) Workspace and singularity analysis. According to the specific structure of 2-PSS (2-PRR) R mechanism, two kinds of workspace are defined, and the engineering constraints such as driving range and angle range of motion pair are taken into account, and two kinds of workspace of the mechanism are obtained by using different search algorithms. The influence of key design parameters on mechanism workspace is also studied. The Jacobian matrix is established by the derivation of the constraint equation, and the singularity problem of the parallel mechanism is studied in depth. (4) scale synthesis. The dimensionless Jacobian matrix (velocity mapping operator matrix) of 2-PSS (2-PRR) R mechanism is established. Based on its algebraic characteristics, an appropriate kinematic performance evaluation index is constructed. The influence of key design parameters on the kinematics performance of the mechanism is revealed. Based on (2), (3), a class of nonlinear optimization problems with multivariable constraints are solved based on the given workspace and taking into account the relevant geometric and engineering constraints. The kinematics design of the mechanism is realized.
【學(xué)位授予單位】：天津大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類(lèi)號(hào)】：TH112

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