本文選題：動(dòng)力學(xué)　切入點(diǎn)：有限元分析　出處：《天津大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

【摘要】：針對(duì)耳石癥(眩暈癥)的自動(dòng)化治療以及航天員和飛行員對(duì)前庭功能的檢測和訓(xùn)練的需求,在前人所設(shè)計(jì)的環(huán)形方案的基礎(chǔ)上,提出了一種新型的4自由度機(jī)構(gòu),該機(jī)構(gòu)可以實(shí)現(xiàn)人的頭部在空間上的三維運(yùn)動(dòng),滿足運(yùn)動(dòng)需求。本文主要研究的內(nèi)容如下:在機(jī)構(gòu)的結(jié)構(gòu)上設(shè)計(jì)了三個(gè)轉(zhuǎn)動(dòng)副和一個(gè)移動(dòng)副,相鄰轉(zhuǎn)動(dòng)副在空間上是垂直且相交的,移動(dòng)副在機(jī)構(gòu)末端,可實(shí)現(xiàn)沿動(dòng)平臺(tái)垂直方向的移動(dòng),這樣的設(shè)計(jì)可以提高旋轉(zhuǎn)座椅在空間運(yùn)動(dòng)的靈活性;將機(jī)構(gòu)中的旋轉(zhuǎn)框架1設(shè)計(jì)為類橢圓形,降低了裝置的空間占用量;為滿足不同人使用,將旋轉(zhuǎn)座椅設(shè)計(jì)為空間大小可調(diào)式的。利用Grubler-Kutzbach公式計(jì)算了機(jī)構(gòu)的自由度;借助D-H方法建立了機(jī)構(gòu)在初始狀態(tài)下的運(yùn)動(dòng)學(xué)正逆解解析模型;利用該模型中的位姿矩陣,構(gòu)造機(jī)構(gòu)速度雅克比矩陣;運(yùn)用拉格朗日動(dòng)力學(xué)公式建立了機(jī)構(gòu)的動(dòng)力學(xué)模型;最后,在以上基礎(chǔ)上,通過算例分析了動(dòng)平臺(tái)位姿,速度以及驅(qū)動(dòng)轉(zhuǎn)矩等的變化規(guī)律。利用Matlab和Adams軟件對(duì)機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)計(jì)算和仿真,做出相應(yīng)的運(yùn)動(dòng)圖像;將Matlab中的函數(shù)圖像與Adams中的仿真圖像進(jìn)行對(duì)比,驗(yàn)證推導(dǎo)公式的正確性。運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)模型為后期系統(tǒng)控制提供了可靠的運(yùn)動(dòng)參數(shù)。針對(duì)機(jī)構(gòu)的結(jié)構(gòu)特點(diǎn),建立了有限元分析模型。根據(jù)實(shí)際工作情況,對(duì)模型剛度最差的的位姿進(jìn)行了靜力分析;對(duì)模型進(jìn)行了模態(tài)分析,提取了前四階固有頻率及振型圖。根據(jù)靜力學(xué)和模態(tài)分析的結(jié)果對(duì)旋轉(zhuǎn)框架進(jìn)行了多目標(biāo)多尺寸的優(yōu)化設(shè)計(jì)。對(duì)優(yōu)化后的模型再次進(jìn)行有限元分析,結(jié)果表明優(yōu)化后的結(jié)構(gòu)其靜動(dòng)態(tài)特性有了明顯的改善。利用西門子S7-300PLC對(duì)三個(gè)伺服電機(jī)進(jìn)行控制,并將控制集成在觸摸屏操作面板上,實(shí)現(xiàn)裝置運(yùn)行的自動(dòng)化。以上研究內(nèi)容為進(jìn)一步開展對(duì)此裝置的細(xì)化研究奠定了理論基礎(chǔ)。
[Abstract]:In view of the automatic treatment of otolithiasis (vertigo) and the need for the detection and training of vestibular function by astronauts and pilots, a new four-degree-of-freedom mechanism was proposed on the basis of the annular scheme designed by the predecessors. This mechanism can realize the three-dimensional movement of human head in space and meet the need of motion. The main contents of this paper are as follows: in the structure of the mechanism, three rotating pairs and one moving pair are designed. The adjacent rotating pair is vertical and intersected in space, and the moving pair is at the end of the mechanism, which can move along the vertical direction of the moving platform. This design can improve the flexibility of the rotating seat in the space motion. The rotating frame 1 in the mechanism is designed as a kind of ellipsoid, which reduces the space consumption of the device, and the rotating seat is designed as a space adjustable type to satisfy different people's use. The degree of freedom of the mechanism is calculated by using the Grubler-Kutzbach formula. Based on D-H method, an analytical model of kinematics forward and inverse solution of mechanism in initial state is established, a velocity Jacobian matrix is constructed by using the pose matrix of the model, and a dynamic model of mechanism is established by using Lagrangian dynamic formula. Finally, on the basis of the above, the changing law of the position, velocity and driving torque of the moving platform is analyzed through an example. The kinematics and dynamics of the mechanism are calculated and simulated by using Matlab and Adams software, and the corresponding motion images are made. The function image in Matlab is compared with the simulation image in Adams to verify the correctness of the derived formula. Kinematics and dynamics model provide reliable motion parameters for later system control. The finite element analysis model is established. According to the actual working conditions, the static analysis of the position and pose of the model with the worst stiffness is carried out, and the modal analysis of the model is carried out. The first four natural frequencies and mode shapes were extracted. The multi-objective and multi-dimension optimization design of the rotating frame was carried out according to the results of static and modal analysis. The optimized model was analyzed again by finite element method. The results show that the static and dynamic characteristics of the optimized structure have been improved obviously. Siemens S7-300 PLC is used to control the three servo motors, and the control is integrated on the touch screen operating panel. The above research contents lay a theoretical foundation for further detailed research on the device.
【學(xué)位授予單位】：天津大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：R764;R496

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本文編號(hào)：1620196