【摘要】：空間球面4R機(jī)構(gòu)具有構(gòu)件數(shù)少、結(jié)構(gòu)簡(jiǎn)單和能實(shí)現(xiàn)主從動(dòng)桿對(duì)應(yīng)角位移等特點(diǎn),并且由于該機(jī)構(gòu)存在大量冗余約束,使得機(jī)構(gòu)的分析和使用受到限制。本文以空間球面4R機(jī)構(gòu)及其特殊形式作為研究對(duì)象,采用解析求解與計(jì)算機(jī)軟件仿真相結(jié)合的方法進(jìn)行了以下幾個(gè)方面的對(duì)比分析： 1)用傳統(tǒng)的運(yùn)動(dòng)分析方法和自由度分析方法討論了4R機(jī)構(gòu)中R副轉(zhuǎn)化為S副對(duì)運(yùn)動(dòng)的影響,并利用SolidWorks及其集成的SolidWorks MOTION分別來(lái)進(jìn)行建模和仿真分析,得出了與理論分析完全一致的結(jié)果。 2)對(duì)一種垂直軸空間4R機(jī)構(gòu)進(jìn)行了動(dòng)力學(xué)分析,采用平面投影法來(lái)進(jìn)行運(yùn)動(dòng)學(xué)分析,采用達(dá)朗貝爾靜定原理建立基本的力和力矩的平衡方程,采用能量法來(lái)建立變形協(xié)調(diào)方程,采用SolidWorks來(lái)建立基本模型、采用ADAMS進(jìn)行運(yùn)動(dòng)學(xué)、靜力學(xué)、動(dòng)力學(xué)和動(dòng)態(tài)靜力的仿真分析,采用MATLAB對(duì)得到的理論結(jié)果和仿真得到的數(shù)據(jù)進(jìn)行繪圖對(duì)比。結(jié)果表明,仿真分忻與理論分析高度一致。 3)討論了一種由空間4R機(jī)構(gòu)演變而成的空間5R機(jī)構(gòu)的基本運(yùn)動(dòng)特性和力學(xué)特性。利用SolidWorks MOTION進(jìn)行運(yùn)動(dòng)學(xué)仿真分析,通過(guò)仿真結(jié)果與理論結(jié)果對(duì)比進(jìn)行了驗(yàn)證,并討論了運(yùn)動(dòng)影響因子對(duì)該機(jī)構(gòu)運(yùn)動(dòng)的影響；利用ADAMS對(duì)機(jī)構(gòu)進(jìn)行力學(xué)仿真分析,獲得了機(jī)構(gòu)的基本動(dòng)力學(xué)特性。 最后對(duì)所得出的結(jié)論進(jìn)行了分析匯總并提出了一些論文中的不足之處和一些尚待研究的問(wèn)題,為進(jìn)一步的研究指出了可供參考的方向。
[Abstract]:The spatial spherical 4R mechanism is characterized by a small number of components, simple structure and the ability to realize the corresponding angular displacement of the main follower. Due to a large number of redundant constraints in the mechanism, the analysis and application of the mechanism are restricted. In this paper, the spatial spherical 4R mechanism and its special form are taken as the research object. The methods of combining analytic solution with computer software simulation are used to compare and analyze the following aspects: 1) traditional motion analysis method and degree of freedom analysis method are used to discuss the conversion of R pair to S in 4R mechanism. The effect of accessory motion, SolidWorks and its integrated SolidWorks MOTION are used for modeling and simulation analysis, and the results are in good agreement with the theoretical analysis. 2) the dynamic analysis of a vertical axis space 4R mechanism is carried out, the kinematics analysis is carried out by plane projection method, and the basic balance equation of force and moment is established by using the principle of Darembert's statically indeterminate. Energy method is used to establish deformation coordination equation, SolidWorks is used to establish basic model, and ADAMS is used to simulate kinematics, statics, dynamics and dynamic static force. The theoretical results are compared with the simulated data by MATLAB. The results show that the simulation results are highly consistent with the theoretical analysis. 3) the basic kinematic and mechanical properties of a spatial 5R mechanism developed from a spatial 4R mechanism are discussed. The kinematics simulation analysis is carried out with SolidWorks MOTION, and the simulation results are compared with the theoretical results, and the influence of the motion influence factors on the motion of the mechanism is discussed. The basic dynamic characteristics of the mechanism are obtained by mechanical simulation analysis with ADAMS. Finally, the conclusions are analyzed and summarized, and some deficiencies in the paper and some problems that need to be studied are put forward, which can be used as a reference for further research.
【學(xué)位授予單位】：鄭州大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH112

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