位姿解耦型五维混联隔振平台振动建模方法的研究

发布时间：2018-01-01 15:03

本文关键词：位姿解耦型五维混联隔振平台振动建模方法的研究　出处：《哈尔滨工业大学》2015年硕士论文　论文类型：学位论文

【摘要】：对于大部分机器和机构来说,振动带来了很多负面影响。隔振技术的研究已成为当代工程技术领域的重要课题之一,并具有重大意义。最近几年,并联机构应用于隔振平台的设计成为了研究热点。随着隔振系统结构变得越来越复杂,振动模型的规模变得越来越大,隔振平台振动建模方法的研究成为了关键所在。将本文针对哈尔滨工业大学自主研制出位姿解耦型五维混联隔振平台进行了多刚体系统振动建模方法的研究,该建模方法和所得结论为隔振平台的精确设计和隔振效果分析提过了所需的理论基础。对该位姿解耦型五维混联隔振平台的基本运动链组成进行分析,通过方位特征集的方法解析隔振平台的自由度和解耦性。通过环路矢量法建立了隔振平台的运动学逆解模型,推导出了其运动学逆雅克比矩阵。考虑关节的柔性,利用旋转矩阵将空间多自由度振动系统转变为单方向多自由度振动系统,利用虚功原理建立了隔振平台的振动模型,对其进行模态分析,采用ANSYS进行了动力学仿真与有限元分析,仿真结果与理论计算值相比较验证了该振动建模方法的正确性,并在不同姿态下结果对比分析研究了该隔振平台的振动特性。在ADAMS环境内,对该五维混联隔振平台上、下两层分别进行机构拓扑结构解析,并基于约束拓扑变换的方法对该隔振平台进行动力学建模,研究该隔振平台振动特性,并与上一章理论计算结果相比较验证了该方法的可行性。
[Abstract]:For most machines and institutions, vibration has brought a lot of negative effects. The research of vibration isolation technology has become one of the important topics in the field of modern engineering technology, and has great significance in recent years. The application of parallel mechanism to the design of vibration isolation platform has become a research hotspot. As the structure of vibration isolation system becomes more and more complex, the scale of vibration model becomes larger and larger. The research of vibration modeling method of vibration isolation platform has become the key. In this paper, the vibration modeling method of multi-rigid body system is studied based on the self-developed position and attitude decoupling five-dimensional hybrid vibration isolation platform of Harbin University of Technology. The modeling method and the obtained conclusions provide a theoretical basis for the accurate design of the platform and the analysis of the vibration isolation effect. The basic motion chain composition of the five-dimensional hybrid vibration isolation platform with decoupling position and attitude is analyzed. The degree of freedom and decoupling of vibration isolation platform are analyzed by the method of azimuth characteristic set, and the inverse kinematics model of vibration isolation platform is established by loop vector method. The inverse Jacobian matrix of kinematics is derived. Considering the flexibility of the joint, the spatial multi-degree-of-freedom vibration system is transformed into a unidirectional multi-degree-of-freedom vibration system by using the rotation matrix. The vibration model of the vibration isolation platform is established by using the principle of virtual work, and the modal analysis is carried out. The dynamic simulation and finite element analysis are carried out by ANSYS. The simulation results are compared with the theoretical results to verify the correctness of the vibration modeling method, and the vibration characteristics of the vibration isolation platform are compared and analyzed under different attitude. The vibration characteristics of the vibration isolation platform are studied in the ADAMS environment. The next two layers are analyzed respectively on the five-dimensional hybrid vibration isolation platform, and the vibration characteristics of the vibration isolation platform are studied based on the constrained topological transformation method for the dynamic modeling of the vibration isolation platform. The feasibility of the method is verified by comparison with the theoretical results in the previous chapter.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TB535.1

【参考文献】