基于冗余伺服電機(jī)法的平面彈性連桿機(jī)構(gòu)平衡的研究
發(fā)布時(shí)間：2018-11-13 18:20
【摘要】：近幾十年來,機(jī)械產(chǎn)品趨于輕量化,運(yùn)轉(zhuǎn)速度趨于高速化。高速下急劇增大的慣性力使機(jī)構(gòu)構(gòu)件產(chǎn)生彈性變形和振動,從而惡化機(jī)構(gòu)的工作性能并且影響運(yùn)動精度,因此,此時(shí)構(gòu)件的彈性不能被忽略。 目前在解決剛性機(jī)構(gòu)震動平衡的問題上提出了一種新的方法——冗余伺服電機(jī)法(Redundant Servo Motor),簡稱RSM法。RSM法的主要思想是,將滿足運(yùn)動學(xué)要求作為設(shè)計(jì)機(jī)構(gòu)的約束條件(即輸入轉(zhuǎn)角的位移),通過優(yōu)化輸入轉(zhuǎn)角曲線(即輸入轉(zhuǎn)角、角速度和角加速度)來改善機(jī)構(gòu)動力學(xué)性能。本文將冗余伺服電機(jī)法應(yīng)用于彈性連桿機(jī)構(gòu)的動平衡研究。 論文首先以彈性四桿機(jī)構(gòu)為例,以震動力和震動力矩的加權(quán)和為目標(biāo)函數(shù),控制點(diǎn)處的角速度和角加速度為優(yōu)化變量,建立其彈性動力學(xué)模型及其優(yōu)化模型,分別給出動力學(xué)模型和優(yōu)化模型的計(jì)算機(jī)程序框圖,采用仿真軟件(MATLAB)對理論推導(dǎo)進(jìn)行證明。并進(jìn)行理論分析,闡明RSM法對彈性機(jī)構(gòu)進(jìn)行動平衡的原理。其次應(yīng)用動力學(xué)分析軟件SPACAR驗(yàn)證彈性四桿機(jī)構(gòu)動力學(xué)模型的正確性。然后選取五種運(yùn)動規(guī)律作為伺服電機(jī)的軌跡對此機(jī)構(gòu)進(jìn)行優(yōu)化,并且以五種運(yùn)動規(guī)律中的多項(xiàng)式次數(shù)和多項(xiàng)式的連續(xù)性為考察對象對優(yōu)化結(jié)果作了方差分析。 論文最后分析了RSM法應(yīng)用于彈性動力學(xué)平衡的優(yōu)點(diǎn)以及存在的不足之處。 本文研究的主要貢獻(xiàn)在于將新的機(jī)構(gòu)平衡設(shè)計(jì)方法-冗余伺服電機(jī)法(RSM)應(yīng)用于彈性機(jī)構(gòu)動平衡研究,使機(jī)構(gòu)能夠在滿足機(jī)構(gòu)運(yùn)動學(xué)要求的基礎(chǔ)上達(dá)到比較好的動力學(xué)平衡效果,并且應(yīng)用動力學(xué)分析軟件SPARCAR驗(yàn)證了所建立的彈性四桿機(jī)構(gòu)動力學(xué)模型的正確性。
[Abstract]:In recent decades, mechanical products tend to be lightweight, running speed tends to high speed. The rapid increase of inertia force at high speed results in elastic deformation and vibration of the mechanism member, which deteriorates the working performance of the mechanism and affects the motion accuracy. Therefore, the elasticity of the component can not be ignored at this time. In order to solve the problem of vibration balance of rigid mechanism, a new method, redundant servo motor method (Redundant Servo Motor),) for short RSM method, is put forward in this paper. The main idea of RSM method is, The kinematics requirement is taken as the constraint condition of the design mechanism (that is, the displacement of the input angle), and the dynamic performance of the mechanism is improved by optimizing the input angle curve (that is, the input angle, angular velocity and angular acceleration). In this paper, the redundant servo motor method is applied to study the dynamic balance of elastic linkage mechanism. Firstly, taking the elastic four-bar mechanism as an example, taking the weighted sum of vibration force and moment as the objective function and the angular velocity and angular acceleration at the control point as the optimization variables, the elastic dynamics model and its optimization model are established. The computer program block diagrams of the dynamic model and the optimization model are given, and the theoretical derivation is proved by the simulation software (MATLAB). The principle of dynamic balance of elastic mechanism by RSM method is explained by theoretical analysis. Secondly, the dynamics analysis software SPACAR is used to verify the correctness of the dynamic model of the elastic four-bar mechanism. Then five kinds of motion laws are selected as the track of the servo motor to optimize the mechanism, and the polynomial degree and the continuity of the polynomial in the five kinds of motion laws are taken as the inspection object to analyze the variance of the optimization results. Finally, the advantages and disadvantages of the RSM method applied to the elastodynamic equilibrium are analyzed. The main contribution of this paper lies in the application of the new mechanism balance design method-redundant servo motor method (RSM) to the study of dynamic balance of elastic mechanism. The mechanism can achieve a better dynamic balance effect on the basis of satisfying the kinematics requirements of the mechanism, and the correctness of the established dynamic model of the elastic four-bar mechanism is verified by using the dynamic analysis software SPARCAR.
【學(xué)位授予單位】：東華大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH112
本文編號：2330038
[Abstract]:In recent decades, mechanical products tend to be lightweight, running speed tends to high speed. The rapid increase of inertia force at high speed results in elastic deformation and vibration of the mechanism member, which deteriorates the working performance of the mechanism and affects the motion accuracy. Therefore, the elasticity of the component can not be ignored at this time. In order to solve the problem of vibration balance of rigid mechanism, a new method, redundant servo motor method (Redundant Servo Motor),) for short RSM method, is put forward in this paper. The main idea of RSM method is, The kinematics requirement is taken as the constraint condition of the design mechanism (that is, the displacement of the input angle), and the dynamic performance of the mechanism is improved by optimizing the input angle curve (that is, the input angle, angular velocity and angular acceleration). In this paper, the redundant servo motor method is applied to study the dynamic balance of elastic linkage mechanism. Firstly, taking the elastic four-bar mechanism as an example, taking the weighted sum of vibration force and moment as the objective function and the angular velocity and angular acceleration at the control point as the optimization variables, the elastic dynamics model and its optimization model are established. The computer program block diagrams of the dynamic model and the optimization model are given, and the theoretical derivation is proved by the simulation software (MATLAB). The principle of dynamic balance of elastic mechanism by RSM method is explained by theoretical analysis. Secondly, the dynamics analysis software SPACAR is used to verify the correctness of the dynamic model of the elastic four-bar mechanism. Then five kinds of motion laws are selected as the track of the servo motor to optimize the mechanism, and the polynomial degree and the continuity of the polynomial in the five kinds of motion laws are taken as the inspection object to analyze the variance of the optimization results. Finally, the advantages and disadvantages of the RSM method applied to the elastodynamic equilibrium are analyzed. The main contribution of this paper lies in the application of the new mechanism balance design method-redundant servo motor method (RSM) to the study of dynamic balance of elastic mechanism. The mechanism can achieve a better dynamic balance effect on the basis of satisfying the kinematics requirements of the mechanism, and the correctness of the established dynamic model of the elastic four-bar mechanism is verified by using the dynamic analysis software SPARCAR.
【學(xué)位授予單位】：東華大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH112
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