Exechon变异机构的研究分析

发布时间：2018-07-03 07:15

本文选题：Exechon机床 + 运动学　；参考：《燕山大学》2016年硕士论文

【摘要】：少自由度并联机构存在运动耦合复杂、工作空间小、精度补偿困难、动力学建模过程复杂、动平台刀具姿态角严重不足等问题。Exechon并联机床技术打破了限制并联机床发展的技术瓶颈,并以专利许可的方式授权国内多家企业应用,开发出具有自主知识产权的新型串并联机床有巨大的现实意义。本文以Exechon机床的并联机构为参考,分析其装配要求严格的原因,并以此为出发点,结合两转一移空间并联机构构型数据库找到与Exechon结构相似,但装配关系简单的UPR-SPR-SPU并联机构。具体研究内容如下:(1)对新机构进行了运动学分析,包括并联部分的正反解和整个串并联机构反解分析,分别用矢量法和运动影响系数法对新机构进行了速度分析,求出了机构的雅可比矩阵,并用数值仿真验证了机构运动学算法的正确性。(2)分别用Simulink模型分析法和变量几何法求解了机构的工作空间,并结合UPR-SPR-SPU-RR串并联机构的构型特点,研究了新机构工作空间的搜索算法,绘制出工作空间的形状并求得其体积值。(3)利用基于传递功率的传递能力评价指标对UPR-SPR-SPU并联机构进行了分析,给出了在单个分支驱动下的平台输出运动螺旋中的移动速度分量和转动速度分量的求解方法,计算出机构在不同位置的传递功率系数。(4)基于虚功原理对UPR-SPR-SPU并联机构的反解动力学进行求解,得到分支雅可比矩阵,并对动力学算法进行仿真分析,得到平台在外载下的各个驱动杆所需施加的驱动力以及驱动速度和驱动加速度。
[Abstract]:The kinematic coupling is complex, the workspace is small, the precision compensation is difficult, and the dynamic modeling process is complex. The technology of Exechon parallel machine tool has broken the bottleneck of restricting the development of parallel machine tool, and authorized many domestic enterprises to apply it under the way of patent license. It is of great practical significance to develop a new series-parallel machine tool with independent intellectual property rights. Taking the parallel mechanism of Exechon machine tool as a reference, this paper analyzes the reason why the assembly requirement is strict, and takes this as a starting point to find the UPR-SPR-SPU parallel mechanism which is similar to Exechon but has a simple assembly relationship by combining with the configuration database of two rotation and one moving space parallel mechanism. The specific research contents are as follows: (1) the kinematics analysis of the new mechanism is carried out, including the forward and inverse solutions of the parallel part and the inverse solution of the whole series-parallel mechanism. The velocity analysis of the new mechanism is carried out by using the vector method and the kinematic influence coefficient method, respectively. The Jacobian matrix of the mechanism is obtained, and the kinematics algorithm of the mechanism is verified by numerical simulation. (2) the workspace of the mechanism is solved by Simulink model analysis method and variable geometry method, and the configuration characteristics of UPR-SPR-SPU-RR series-parallel mechanism are combined. The searching algorithm of the workspace of the new mechanism is studied, the shape of the workspace is drawn and the volume value of the workspace is obtained. (3) the UPR-SPR-SPU parallel mechanism is analyzed by using the transfer capability evaluation index based on the transfer power. The solution method of moving velocity component and rotational velocity component in the output spiral of platform driven by a single branch is given. The transfer power coefficients of the mechanism at different positions are calculated. (4) based on the virtual work principle, the inverse solution dynamics of the UPR-SPR-SPU parallel mechanism is solved, the branch Jacobian matrix is obtained, and the dynamic algorithm is simulated and analyzed. The driving force, the driving speed and the driving acceleration of each driving rod under external loading of the platform are obtained.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TH112

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