本文選題：混聯(lián)機(jī)器人 + 分形理論��； 參考：《江南大學(xué)》2017年碩士論文

【摘要】：混聯(lián)機(jī)構(gòu)由于其兼具串聯(lián)機(jī)構(gòu)工作空間大、易與控制和并聯(lián)機(jī)構(gòu)結(jié)構(gòu)穩(wěn)定、剛性好、累積誤差小、動(dòng)態(tài)性能好、精度高的優(yōu)點(diǎn),并能避免單純串、并聯(lián)機(jī)構(gòu)所帶來的問題,并且能很好的應(yīng)用于工業(yè)制造中,從而備受國內(nèi)外學(xué)者和研究院的關(guān)注,占據(jù)了機(jī)構(gòu)學(xué)領(lǐng)域的重要一角。但目前針對具有多路徑橫向非典型性混聯(lián)機(jī)構(gòu)的構(gòu)型設(shè)計(jì)及型綜合方法的研究尚在發(fā)展中階段。因此,基于分形理論和機(jī)構(gòu)拓?fù)鋱D,本論文提出一種全面、系統(tǒng)的混聯(lián)機(jī)器人構(gòu)型綜合理論和設(shè)計(jì)方法。首先,介紹了空間多環(huán)拓?fù)浣Y(jié)構(gòu)設(shè)計(jì)的理論基礎(chǔ),并通過工作場合的特點(diǎn),給出了開環(huán)拓?fù)浣Y(jié)構(gòu)和閉環(huán)拓?fù)浣Y(jié)構(gòu)兩種類型。其中,前者的輸出動(dòng)平臺數(shù)目大于一,適合多點(diǎn)協(xié)同工作環(huán)境;后者的輸出平臺有且僅有一個(gè),應(yīng)用于大多數(shù)場合下。并且,提出了將分形理論應(yīng)用于空間多環(huán)拓?fù)浣Y(jié)構(gòu)的方法,通過鏈分形、平臺分形和鏈臺分形三種分形方式,快速有效的生成了不同機(jī)構(gòu)拓?fù)鋱D。其次,分析了混聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)特征,主要由運(yùn)動(dòng)副、支鏈和路徑組成。其邏輯順序?yàn)?機(jī)構(gòu)由路徑并聯(lián)而成,路徑由支鏈串聯(lián)而成,支鏈由運(yùn)動(dòng)副通過不同組合方式組建而成。在此基礎(chǔ)上,提出了8位二進(jìn)制碼的表達(dá)方式。同時(shí),在混聯(lián)機(jī)構(gòu)的邏輯運(yùn)算中,提出了路徑法則,解決了運(yùn)算過程中路徑這一新添加的元素所帶來的問題。并基于位移子集的概念,針對串聯(lián)與并聯(lián)運(yùn)動(dòng)的拓?fù)潢P(guān)系,建立了串并聯(lián)運(yùn)算法則,解決了各運(yùn)動(dòng)特征的輸出位移子集的計(jì)算問題。然后,提出了具體的基于分形理論的混聯(lián)機(jī)構(gòu)的設(shè)計(jì)方法。在機(jī)構(gòu)拓?fù)鋱D的基礎(chǔ)上,適配運(yùn)動(dòng)副,并對該布局進(jìn)行審核,確定其滿足設(shè)計(jì)條件。在此基礎(chǔ)上,提出了系統(tǒng)的混聯(lián)機(jī)構(gòu)型綜合流程,并將此型綜合理論應(yīng)用于少自由度混聯(lián)機(jī)構(gòu)的型綜合,實(shí)現(xiàn)了三自由度、四自由度和五自由度這三種混聯(lián)機(jī)構(gòu)的型綜合,并運(yùn)用末端運(yùn)動(dòng)特征分析方法逐一驗(yàn)證了上述機(jī)構(gòu)。最后,針對踝關(guān)節(jié)損傷的治療設(shè)備問題,提出了一種五自由度混聯(lián)式踝關(guān)節(jié)康復(fù)機(jī)構(gòu)。其由一個(gè)兩轉(zhuǎn)動(dòng)一移動(dòng)(2R1T)機(jī)構(gòu)串聯(lián)一個(gè)兩移動(dòng)(2T)機(jī)構(gòu),實(shí)現(xiàn)了踝關(guān)節(jié)的背屈、跖屈、內(nèi)翻、外翻的兩個(gè)轉(zhuǎn)動(dòng)和空間內(nèi)三維移動(dòng),即該機(jī)構(gòu)為三移動(dòng)兩轉(zhuǎn)動(dòng)混聯(lián)機(jī)構(gòu)。設(shè)計(jì)了兩套2R1T機(jī)構(gòu)構(gòu)型,通過ADAMS建模和仿真,實(shí)現(xiàn)對該機(jī)構(gòu)的運(yùn)動(dòng)學(xué)分析,驗(yàn)證了機(jī)構(gòu)的運(yùn)動(dòng)輸出,并確定混聯(lián)式踝關(guān)節(jié)康復(fù)機(jī)構(gòu)的整體構(gòu)型。從中可發(fā)現(xiàn)機(jī)構(gòu)運(yùn)動(dòng)平穩(wěn)合理,為進(jìn)一步機(jī)構(gòu)的實(shí)體化提供了可靠的保證。
[Abstract]:The hybrid mechanism has the advantages of large workspace of series mechanism, stable structure of control and parallel mechanism, good rigidity, small cumulative error, good dynamic performance and high precision, and can avoid the problems caused by simple series-parallel mechanism. And it can be well applied in industrial manufacturing, which has attracted the attention of domestic and foreign scholars and research institutes, and occupies an important part in the field of mechanism science. However, the research on configuration design and synthesis method of multipath transversal heterodyne mechanism is still in the developing stage. Therefore, based on fractal theory and mechanism topology, this paper presents a comprehensive and systematic synthesis theory and design method of hybrid robot configuration. Firstly, the theoretical basis of space multi-ring topology design is introduced, and two types of open loop topology and closed loop topology are given through the characteristics of the working environment. Among them, the former has more than one output moving platform, which is suitable for multi-point cooperative working environment, and the latter has only one output platform, which is applied in most situations. Furthermore, a method of applying fractal theory to spatial multi-ring topology is proposed. Through three fractal methods, chain fractal, platform fractal and chain table fractal, different mechanism topology graphs are generated quickly and effectively. Secondly, the kinematic characteristics of the hybrid mechanism are analyzed, which are mainly composed of motion pair, branch chain and path. The logical sequence is as follows: the mechanism is parallel by the path, the path is connected by the branch chain, and the branch chain is formed by the kinematic pair through different combinations. On this basis, the expression of 8-bit binary code is proposed. At the same time, in the logic operation of the hybrid mechanism, a path rule is proposed, which solves the problem caused by the new added element of the path in the process of operation. Based on the concept of displacement subset, a series-parallel algorithm is established for the topological relation between series and parallel motion, which solves the problem of calculating the output displacement subset of each motion feature. Then, the design method of hybrid mechanism based on fractal theory is put forward. On the basis of the topology diagram of the mechanism, the kinematic pair is adapted, and the layout is checked to confirm that it meets the design conditions. On the basis of this, this paper puts forward the integrated flow of the system's hybrid on-line configuration, and applies this type synthesis theory to the type synthesis of the hybrid mechanism with less degrees of freedom, and realizes the type synthesis of the three kinds of hybrid mechanism, that is, three degrees of freedom, four degrees of freedom and five degrees of freedom. The mechanism is verified one by one by using the method of terminal motion feature analysis. Finally, aiming at the treatment equipment of ankle joint injury, a five degree of freedom hybrid ankle rehabilitation mechanism is proposed. It consists of a two-rotation, a moving-2R1T) mechanism in series with a two-moving-2T) mechanism, which realizes the two turns of the ankle joint such as dorsal flexion, metatarsal flexion, varus, valgus and three-dimensional movement in space, that is, the mechanism is a three-move, two-rotation hybrid mechanism. Two sets of 2R1T mechanism configurations are designed. Through ADAMS modeling and simulation, the kinematics analysis of the mechanism is realized, the kinematic output of the mechanism is verified, and the overall configuration of the hybrid ankle rehabilitation mechanism is determined. It can be found that the motion of the mechanism is stable and reasonable, which provides a reliable guarantee for the further materialization of the mechanism.
【學(xué)位授予單位】：江南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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