【摘要】：某高功率固體激光系統(tǒng)中,有大量的大口徑光學(xué)模塊需從下往上安裝到驅(qū)動(dòng)器主體中去。這些模塊種類多,數(shù)量大,外形尺寸、結(jié)構(gòu)和重量有較大差別。模塊在安裝對(duì)位過(guò)程中,需要對(duì)其進(jìn)行具有一定精度要求的姿態(tài)調(diào)整。為滿足光學(xué)模塊裝校需要,一種混聯(lián)六自由度對(duì)接平臺(tái)(以下簡(jiǎn)稱空間對(duì)接平臺(tái))方案被用于解決此工程實(shí)際問(wèn)題。此空間對(duì)接平臺(tái)為機(jī)電耦合系統(tǒng),結(jié)構(gòu)復(fù)雜,成本高,制造周期長(zhǎng)。在空間對(duì)接平臺(tái)的物理樣機(jī)制造出來(lái)之前,需充分驗(yàn)證其功能特性、機(jī)械結(jié)構(gòu)合理性,因此結(jié)合虛擬樣機(jī)的相關(guān)技術(shù)對(duì)平臺(tái)進(jìn)行研究,是具有實(shí)際應(yīng)用意義的重要課題,此外在設(shè)計(jì)過(guò)程中應(yīng)用虛擬樣機(jī)技術(shù)還可減少設(shè)計(jì)失誤、提高設(shè)計(jì)效率、降低設(shè)計(jì)成本、縮短設(shè)計(jì)周期。 本課題以空間對(duì)接平臺(tái)為研究對(duì)象,以虛擬樣機(jī)的相關(guān)技術(shù)為支撐。首先研究其功能,應(yīng)用運(yùn)動(dòng)學(xué)理論分析相應(yīng)機(jī)械機(jī)構(gòu),采用三維CAD軟件Pro/Engineer(簡(jiǎn)稱Pro/E)、有限元分析軟件ANSYS及ANSYS Workbench,多體動(dòng)力學(xué)分析軟件ADAMS進(jìn)行了實(shí)體建模、有限元分析、運(yùn)動(dòng)仿真分析等工作。綜合采用虛擬樣機(jī)相關(guān)技術(shù)得出的分析結(jié)果為空間對(duì)接平臺(tái)的設(shè)計(jì)和進(jìn)一步優(yōu)化設(shè)計(jì)提供了理論依據(jù),對(duì)平臺(tái)物理樣機(jī)制造具有重要的指導(dǎo)意義,本文具體內(nèi)容如下: 首先根據(jù)光學(xué)模塊裝校作業(yè)流程,分析空間對(duì)接平臺(tái)設(shè)計(jì)要求和技術(shù)指標(biāo),得出空間對(duì)接平臺(tái)六自由度由沿X,Y,Z軸的移動(dòng)和繞X,Y,Z軸的轉(zhuǎn)動(dòng)組成。在此基礎(chǔ)上研究了水平調(diào)整機(jī)構(gòu)和平面調(diào)整機(jī)構(gòu)組成和工作原理,并應(yīng)用并聯(lián)機(jī)器人位姿的描述和空間坐標(biāo)變換理論計(jì)算二者的運(yùn)動(dòng)學(xué)逆解。 其次用CAD三維設(shè)計(jì)軟件Pro/Engineer,建立空間對(duì)接平臺(tái)三維模型;針對(duì)空間對(duì)接平臺(tái)的穩(wěn)定性要求,運(yùn)用有限元分析軟件ANSYS Workbench,分析空間對(duì)接平臺(tái)的有限元模型,根據(jù)實(shí)際情況施加約束及載荷,進(jìn)行靜力學(xué)分析和模態(tài)分析,得出了空間對(duì)接平臺(tái)的等效最大值應(yīng)力、最大變形量值、前10階模態(tài)以及相應(yīng)振型,分析數(shù)據(jù)可作為優(yōu)化設(shè)計(jì)依據(jù)。 最后根據(jù)多柔體系統(tǒng)動(dòng)力學(xué)建模理論以及ADAMS的柔性體建模方法,運(yùn)用有限元分析軟件ANSYS輸出柔性體建模所需模態(tài)中性文件;將其柔性體引入虛擬樣機(jī)模型,建立了含有柔性體的空間對(duì)接平臺(tái)剛?cè)狁詈舷到y(tǒng)仿真模型。
[Abstract]:In a high power solid-state laser system, a large number of large aperture optical modules need to be installed in the driver body from the bottom up. There are many kinds of modules, large number, shape size, structure and weight. In the course of installing alignment, the module needs to adjust its attitude with certain precision. In order to meet the needs of optical module installation and calibration, a hybrid six-degree-of-freedom docking platform (hereinafter referred to as space docking platform) is used to solve the practical problem of this project. This space docking platform is an electromechanical coupling system with complex structure, high cost and long manufacturing cycle. Before the physical prototype of the space docking platform is manufactured, it is necessary to fully verify its functional characteristics and the rationality of the mechanical structure. Therefore, it is an important subject with practical significance to study the platform with the related technology of virtual prototyping. In addition, the application of virtual prototyping technology in the design process can also reduce design errors, improve design efficiency, reduce design cost and shorten design cycle. This topic takes the space docking platform as the research object and the related technology of virtual prototyping as the support. Firstly, the function of the mechanism is studied, and the corresponding mechanical mechanism is analyzed by kinematics theory. The 3D CAD software Pro/Engineer (abbreviated as Pro/E), the finite element analysis software ANSYS and the ANSYS Workbench, multi-body dynamics analysis software ADAMS are used to carry out the entity modeling and finite element analysis. Motion simulation analysis and other work. The analysis results obtained by using the related technology of virtual prototyping provide a theoretical basis for the design and further optimization design of the space docking platform, and have an important guiding significance for the manufacture of the platform physical prototype. The main contents of this paper are as follows: firstly, the design requirements and technical specifications of the space docking platform are analyzed according to the process of optical module mounting and calibration, and the six degrees of freedom of the space docking platform are obtained, which consists of the movement along the XG YZ axis and the rotation around the XG YZ axis. On this basis, the composition and working principle of horizontal and planar adjustment mechanisms are studied, and the kinematics inverse solutions of the two mechanisms are calculated by using the description of the position and pose of the parallel robot and the theory of space coordinate transformation. Secondly, the three-dimensional model of space docking platform is established by CAD 3D design software Pro/Engineer, and the finite element analysis software ANSYS Workbench, is used to analyze the finite element model of spatial docking platform according to the stability requirement of spatial docking platform. According to the actual situation, the equivalent maximum stress, maximum deformation value, the first 10 modes and the corresponding modes are obtained by statics analysis and modal analysis. The analysis data can be used as the basis of optimization design. Finally, according to the dynamic modeling theory of multi-flexible body system and the flexible body modeling method of ADAMS, using the finite element analysis software ANSYS to output the modal neutral file required for the flexible body modeling, the flexible body is introduced into the virtual prototype model. The rigid-flexible coupling system simulation model of space docking platform with flexible body is established.
【學(xué)位授予單位】：重慶大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH112

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