【摘要】：空間少自由度非對稱并聯(lián)機(jī)構(gòu)與以Stewart平臺為代表的六自由度并聯(lián)機(jī)構(gòu)相比具有結(jié)構(gòu)簡單、性能好、易于控制和性價比高等諸多優(yōu)點(diǎn),有廣闊的應(yīng)用前景和潛力。但也由于其各個分支不全相同,導(dǎo)致對新機(jī)型的構(gòu)型研究有限,從而影響了對這類機(jī)構(gòu)的研究分析。隨著其他機(jī)構(gòu)研究的相對成熟,各國的機(jī)構(gòu)學(xué)者開始將目光轉(zhuǎn)移到對空間少自由度非對稱并聯(lián)機(jī)構(gòu)的研究。2TPS/2TPR并聯(lián)機(jī)構(gòu)是一種空間少自由度非對稱并聯(lián)機(jī)構(gòu),串聯(lián)一個轉(zhuǎn)動副就可以成為五自由度的混聯(lián)機(jī)構(gòu),具有很大的應(yīng)用前景。 本文對新型2TPS/2TPR空間少自由度非對稱并聯(lián)機(jī)構(gòu)進(jìn)行結(jié)構(gòu)尺寸參數(shù)設(shè)計并作了深入的研究。 首先,詳細(xì)描述2TPS/2TPR并聯(lián)機(jī)構(gòu)的結(jié)構(gòu),分析了機(jī)構(gòu)的運(yùn)動性質(zhì),計算了機(jī)構(gòu)的自由度。建立了機(jī)構(gòu)的完整雅克比矩陣,它包括運(yùn)動子矩陣和約束子矩陣。對機(jī)構(gòu)的奇異位形進(jìn)行了定性分析； 其次,詳細(xì)分析了機(jī)構(gòu)的兩個重要性能評價指標(biāo),即工作空間體積與機(jī)構(gòu)自身的體積之比和全域條件數(shù)。建立工作空間體積與機(jī)構(gòu)自身的體積之比這一性能評價指標(biāo)與機(jī)構(gòu)尺寸參數(shù)間的內(nèi)在關(guān)系；基于完整雅克比矩陣求得了機(jī)構(gòu)的全域條件數(shù)指標(biāo)與機(jī)構(gòu)尺寸參數(shù)間的內(nèi)在關(guān)系； 再次,對機(jī)構(gòu)各尺寸參數(shù)進(jìn)行了靈敏度分析,建立了各尺寸參數(shù)變化對各項性能指標(biāo)的影響關(guān)系曲線,分析了各參數(shù)變化對機(jī)構(gòu)各性能指標(biāo)的影響,為機(jī)構(gòu)的尺寸設(shè)計提供了理論依據(jù)； 最后,簡要介紹了遺傳算法的原理和相關(guān)的基本概念。基于遺傳算法及尺寸參數(shù)對機(jī)構(gòu)性能的影響,對2TPS/2TPR并聯(lián)機(jī)構(gòu)進(jìn)行尺寸設(shè)計優(yōu)化,并利用MATLAB計算軟件編寫程序獲得了各尺寸參數(shù)的最佳組合并通過實(shí)例驗(yàn)證優(yōu)化結(jié)果的有效性；最后根據(jù)優(yōu)化結(jié)構(gòu)建立了機(jī)構(gòu)的實(shí)體模型。
[Abstract]:Compared with the six-degree-of-freedom parallel mechanism represented by Stewart platform, the space-less-degree-of-freedom asymmetric parallel mechanism has many advantages, such as simple structure, good performance, easy control, high cost performance and so on. It has broad application prospects and potential. However, due to its different branches, the research on the configuration of the new model is limited, which has an impact on it. With the relative maturity of other mechanisms, scholars in various countries began to turn their attention to the study of asymmetric parallel mechanisms with few degrees of freedom in space. 2TPS/2TPR parallel mechanism is a kind of asymmetric parallel mechanism with few degrees of freedom in space, and one rotating pair in series can become five degrees of freedom parallel mechanism. The mechanism has great application prospects.
In this paper, a new type of 2TPS/2TPR spatial asymmetric parallel mechanism with few degrees of freedom is designed and studied.
Firstly, the structure of 2TPS/2TPR parallel mechanism is described in detail, the kinematic properties of the mechanism are analyzed, and the degree of freedom of the mechanism is calculated.
Secondly, two important performance evaluation indexes of the mechanism are analyzed in detail, i.e. the ratio of workspace volume to the volume of the mechanism itself and the global condition number. The internal relationship between the global condition number index and the size parameters of the mechanism.
Thirdly, the sensitivity of each dimension parameter of the mechanism is analyzed, and the influence curve of each dimension parameter change on each performance index is established. The influence of each parameter change on each performance index of the mechanism is analyzed, which provides a theoretical basis for the dimension design of the mechanism.
Finally, the principle and basic concepts of genetic algorithm are briefly introduced. Based on genetic algorithm and the influence of dimension parameters on the performance of mechanism, the dimension design optimization of 2TPS/2TPR parallel mechanism is carried out. The optimum combination of dimension parameters is obtained by programming with MATLAB software and the validity of optimization results is verified by an example. Finally, according to the optimized structure, the entity model of the mechanism is established.
【學(xué)位授予單位】：昆明理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：TH112

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