新型三自由度可控机构式挖掘机的型综合与分析

发布时间：2018-04-28 06:59

本文选题：挖掘机 + 可控机构　；参考：《广西大学》2015年硕士论文

【摘要】：随着科技的高速发展和时代的日新月异,可控机构作为一种将机电控制和机械技术相结合的新兴产物,成为了机构学重要的研究领域。可控机构式挖掘机相对于液压挖掘机不但零件寿命较长、不会漏油、可靠性较好,而且同样可以灵活完成各种挖掘动作。型综合是机构设计的重要环节,本文以一个的三自由度可控机构式挖掘机为对象,采用开放副闭合的方法对其进行型综合,得到80种新型可控机构,然后对选取的挖掘机构进行运动学分析、动力学分析以及虚拟样机仿真分析。总体来说,本文主要完成了以下的研究工作：(1)针对现有的三自由度可控机构式挖掘机为对象,对挖掘机结构进行了具体分析,然后采用开放副闭合的方法进行型综合,综合出98种运动链,再通过观察,对98种运动链采取特定的设计要求从而进行筛选,最后得到80种符合要求的新型三自由度可控机构,并且对其中6个符合要求的可控机构进行具体化得到6个可控机构式挖掘机构型。(2)通过拆分成四杆机构、五杆机构和三杆组机构来研究机构的位置关系,并进行运动学正解和逆解分析,最后进行正逆解数值分析。(3)对可控挖掘机构进行奇异性和工作空间边界条件分析,运用动态静力学方法将瞬时惯性力系转化为静力系,建立该机构动态静力学模型。(4)使用Adams虚拟样机技术建立模型,对机构分别进行动力学分析、运动学正逆解分析。
[Abstract]:With the rapid development of science and technology and the rapid development of the times, controllable mechanism, as a new product which combines mechanical and mechanical control and mechanical technology, has become an important research field of institutional science. Relative to hydraulic excavator, the controllable mechanism excavator not only has a long life, but also can not leak oil, it is reliable, and it can be also flexible. In this paper, a three degree of freedom controllable mechanism type excavator is taken as the object, and the open sub closure method is used to Synthetist the excavator with 80 kinds of new type of controllable mechanism. Then the kinematics analysis, dynamic analysis and virtual prototype imitation of the selected mining mechanism are carried out. In general, this article mainly completed the following research work: (1) in view of the existing three degree of freedom controllable mechanism excavator as the object, the structure of the excavator is analyzed concretely, and then the open auxiliary closed method is used to synthesize and synthesize 98 kinds of transport chain, and then the 98 kinds of sports chains are set up by the observation. 80 kinds of three degree of freedom controllable mechanism which meet the requirements are obtained, and 6 controllable mechanisms are made to get 6 controllable mechanism type excavator configurations. (2) the position relationship of the mechanism is studied by splitting into four bar mechanism, five bar mechanism and three bar organization. Numerical analysis of positive and inverse solutions, and numerical analysis of positive and inverse solutions. (3) analysis of singularity and working space boundary conditions for controllable excavating mechanism, using dynamic statics to transform the instantaneous inertial force system into static system and establish the dynamic statics model of this mechanism. (4) using Adams Virtual Prototype Technology to establish the model and the mechanism of the mechanism, The dynamic analysis is carried out, and the kinematics positive and inverse solutions are analyzed.

【学位授予单位】：广西大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TU621

【参考文献】