并联变胞机构的结构分析与综合

发布时间：2018-01-08 14:07

本文关键词：并联变胞机构的结构分析与综合　出处：《北京邮电大学》2015年硕士论文　论文类型：学位论文

【摘要】：并联变胞机构是一种具有变胞特性的并联机构,这种新型机构兼具并联机构承载能力大、精度高等优点和变胞机构拓扑可变、自由度可变的特点,从而能够适应复杂多样的功能需求和工作环境。本文首先通过对并联变胞机构的本质的研究给出并联变胞机构的定义,通过对其变胞方式的研究对这种新型机构进行分类,揭示了并联变胞机构的结构组成特点,并进一步介绍了并联变胞机构的描述方式。其次,针对现有的变胞机构构态变换的邻接矩阵演算方法在分析多支链并联变胞机构时存在的描述困难、计算复杂等问题,提出分块邻接矩阵分析方法,并给出通用的公式化的矩阵描述和演算方法。在此基础上提出基于运动副二进制编码的分块三维邻接矩阵描述方法,不仅可以描述并联变胞机构各杆件间的连接关系,而且可以表示出运动副的类型和轴线方向,从而更加充分地揭示并联变胞机构的拓扑结构特征。提出分块螺旋邻接矩阵法,将并联变胞机构的结构特性和运动特性结合起来,这就为并联变胞机构的结构分析提供了一系列新方法。接着,详细阐述了一种实用的并联变胞机构的设计理论,给出一种并联变胞机构创新设计实例,完善了并联变胞机构的结构综合理论体系。最后,针对一种新型3-CPU并联变胞机械手从提出设计需求到模型建立的全过程进行了系统的分析,并详细阐述了变胞U副的机械结构及基于齿轮啮合的工作原理。本文在并联变胞机构的结构分析方面提出了三种方法,在并联变胞机构的综合方面阐述了一种实用的综合理论并引入了创新设计方法,从而为并联变胞机构的理论完善和进一步应用奠定了一定基础。
[Abstract]:Parallel metamorphic mechanism is a kind of parallel mechanism with variable cell characteristics. This new mechanism has the advantages of large bearing capacity and high precision of parallel mechanism, and has the characteristics of variable topology and variable degree of freedom of metamorphic mechanism. In order to adapt to the complex and diverse functional needs and working environment. In this paper, the definition of parallel metamorphic mechanism is given by studying the nature of parallel metamorphic mechanism, and the new mechanism is classified by studying its metamorphosis mode. The structural characteristics of parallel metamorphic mechanism are revealed, and the description of parallel metamorphic mechanism is further introduced. Secondly, in view of the difficulties in describing and calculating the problems existing in the analysis of multi-branched parallel metamorphic mechanisms, a block adjacency matrix analysis method is proposed. A general formulation matrix description and calculus method is given. Based on this, a block 3D adjacency matrix description method based on motion pair binary coding is proposed. It can not only describe the connection relationship among the members of the parallel variable cell mechanism, but also indicate the type and axis direction of the kinematic pair. In order to fully reveal the topological characteristics of the parallel metamorphic mechanism, a block helical adjacency matrix method is proposed to combine the structural characteristics and the kinematic characteristics of the parallel metamorphic mechanism. This provides a series of new methods for the structural analysis of parallel metamorphic mechanisms. Then, a practical design theory of shunt metamorphic mechanism is described in detail, and an innovative design example of shunt metamorphic mechanism is given, which improves the structural comprehensive theoretical system of shunt metamorphic mechanism. Finally, a new 3-CPU parallel variable cell manipulator is analyzed systematically from the design requirement to the model building. The mechanical structure and working principle based on gear meshing of variable cell U pair are described in detail. In this paper, three methods are proposed to analyze the structure of parallel metamorphic mechanism. In the aspect of synthesis of parallel metamorphic mechanism, a practical synthesis theory and innovative design method are introduced. It lays a foundation for the theoretical perfection and further application of parallel metamorphic mechanism.
【学位授予单位】：北京邮电大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH112

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