一种新型混联机构的设计与性能研究

发布时间：2018-01-13 01:18

本文关键词：一种新型混联机构的设计与性能研究　出处：《中北大学》2017年硕士论文　论文类型：学位论文

【摘要】：混联机构集串联机构与并联机构的优点于一身,能够适应更高要求的生产活动。本文设计了一种具有大工作空间、高灵活性的串-并混联机构,并对该混联机构进行了构型、运动学、工作空间及运动学和动力学仿真研究。首先,提出了一种新型混联机构的构型。该混联机构由一个3-UPT并联机构和一个2-DOF转向机构串联组成。2自由度转向机构串联在3-UPT并联机构的定平台与机架之间。构成的新型混联机构具有大工作空间和高灵活性。分别利用Kutzbach-Grübler公式和螺旋理论对该机构进行了自由度分析。其次,推导了该混联机构位置解的表达式。采用闭环矢量法分析了3-UPT并联机构的位置正逆解,利用D-H法分析了2-DOF转向机构的位置正反解,分别得到两个机构的旋转矩阵。最后,将两个机构的位置正反解集成,得到了混联机构的整体位置解以及混联机构的齐次旋转变换矩阵。然后,进行了混联机构工作空间的研究。采用基于运动/力传递性能指标对3-UPT并联机构进行了参数优化,得到了3-UPT并联机构上、下平台的理想参数。分析了影响工作空间的因素,分别利用数值搜索法和仿真得到了3-UPT并联机构和2-DOF转向机构的工作空间,最后集成两机构的工作空间,得到新型混联机构的工作空间,并基于驱动方式将工作空间进行了划分。最后,利用Adams仿真软件对该机构进行了仿真分析。在特定驱动和载荷下,得到了机构执行器的位移、速度、加速度变化曲线和机构驱动件的受力情况、功率变化。
[Abstract]:The hybrid mechanism combines the advantages of series mechanism and parallel mechanism, and can adapt to higher requirements of production activities. In this paper, a series-parallel mechanism with large workspace and high flexibility is designed. The configuration, kinematics, workspace, kinematics and dynamics of the hybrid mechanism are studied. A new type of hybrid mechanism is proposed, which consists of a 3-UPT parallel mechanism and a 2-DOF steering mechanism in series. 2 degrees of freedom steering mechanism is in series with 3-UPT parallel mechanism. Between the fixed platform and the frame, the new hybrid mechanism has large workspace and high flexibility. The degree of freedom of the mechanism is analyzed by using Kutzbach-Gr 眉 bler formula and screw theory, respectively. . second. The position inverse solution of 3-UPT parallel mechanism is analyzed by closed-loop vector method, and the position inverse solution of 2-DOF steering mechanism is analyzed by D-H method. Finally, the position forward and inverse solutions of the two mechanisms are integrated, and the global position solution of the hybrid mechanism and the homogeneous rotation transformation matrix of the hybrid mechanism are obtained. The workspace of the hybrid mechanism is studied. The parameters of the 3-UPT parallel mechanism are optimized based on the motion / force transfer performance index, and the 3-UPT parallel mechanism is obtained. The factors affecting the workspace are analyzed, and the workspace of 3-UPT parallel mechanism and 2-DOF steering mechanism are obtained by numerical search method and simulation, respectively. Finally, the workspace of the two mechanisms is integrated, and the workspace of the new hybrid mechanism is obtained. Finally, the workspace is divided based on the driving mode. Finally. The Adams simulation software is used to simulate and analyze the mechanism. The displacement, velocity and acceleration curves of the actuator are obtained under the specific driving and loading conditions. Power change.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH112

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