發(fā)布時間：2018-12-21 07:20

【摘要】：放縮機構是由普通構件組成的可展開、折疊的機構,該機構具有較大的空間縮放比,在很多領域得到了很廣泛的應用,如折疊式機車、折疊式帳篷、便攜式旅行架、升降機以及放縮玩具、航空、航天等領域。 本文針對三種不同的特殊基本單元進行結構原理以及運動學分析,揭示了其放縮機構構態(tài)變化過程,分析了每種基本單元組成的放縮機構的組合特性,并對三種基本單元的實際應用進行了仿真模型設計。 首先,本文對雙三角形機構進行了結構原理、運動學分析,總結出該單元構成放縮機構的組合性質(zhì),并將該基本單元的應用擴展到空間范圍。在此基礎上,設計了兩種該單元在空間縮放機構中的應用實例。 其次,本文通過對傳統(tǒng)剪刀機構的改進,分析了球面桿剪刀機構的結構原理與運動學分析,對該基本單元組成的空間復雜軌跡放縮機構進行了探究,并以此基本單元設計了一種三自由度大行程空間焊接機器人。 最后,引入了一種新的放縮機構基本單元——齒輪副放縮單元,研究并分析了該基本單元構造平面放縮機構的構造原理,對其構成的平面放縮機構進行了運動學分析,并將其擴展到空間放縮單元。
[Abstract]:The retractable mechanism is a deployable, folding mechanism made up of ordinary components. It has a large space scaling ratio and has been widely used in many fields, such as folding locomotives, folding tents, portable travel frames, etc. Lift and shrink toys, aerospace, and other fields. In this paper, the structural principle and kinematics analysis of three different special basic elements are carried out, and the process of structural state change of the scaling mechanism is revealed, and the combined characteristics of each kind of basic unit are analyzed. The simulation model is designed for the practical application of the three basic units. Firstly, the structure principle and kinematics analysis of the double triangle mechanism are carried out, and the combined properties of the element to form the scaling mechanism are summarized, and the application of the basic element is extended to the space range. On this basis, two applications of this unit in the spatial zoom mechanism are designed. Secondly, through the improvement of the traditional scissors mechanism, the structure principle and kinematics analysis of the spherical bar scissors mechanism are analyzed, and the spatial complex trajectory scaling mechanism composed of the basic unit is explored. A three-degree-of-freedom space welding robot is designed based on the basic unit. Finally, a new kind of basic unit of scaling mechanism, gear pair scaling unit, is introduced. The construction principle of the basic unit is studied and analyzed, and the kinematic analysis of the planar scaling mechanism is carried out. It is extended to the space scaling unit.
【學位授予單位】：北京郵電大學
【學位級別】：碩士
【學位授予年份】：2011
【分類號】：TH112

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本文編號：2388560