基于G_F集的四自由度混联机构可视化型综合

发布时间：2018-01-13 02:10

本文关键词：基于G_F集的四自由度混联机构可视化型综合　出处：《中北大学》2017年硕士论文　论文类型：学位论文

【摘要】：混联机构作为现代机构学的一个重要分支在航空航天、医疗康复、工业机器人等工程实践中得到了广泛的应用。混联机构的型综合是产品创新的关键环节,已初步形成了多种型综合理论和方法体系。在型综合的过程中,机构构造条件的查询比较复杂,可视化程度不足。且四自由度混联机构已经有所应用,但其构型还不够丰富。因此,本文基于GF集理论,对四自由度混联机构进行可视化型综合。首先,分析了GF集的基本理论及数据库可视化方法。对各种型综合理论进行比较,最终选择GF集理论进行型综合。归纳GF集的表达式和分类,说明纯转动、纯移动以及同时包括转动特征和移动特征的GF集的求交、求和运算法则。对各种数据库软件工具进行分析,选择Access2010作为四自由度混联机构型综合可视化的软件工具。其次,阐述了构成四自由度混联机构的重要组件并联单元的型综合步骤,在原始支链的基础上总结出了每种构型以及其对应的几何条件。基于GF集理论,用数据库字符串的形式将构型及其几何条件表达出来,生成可视化界面。运用转动轴线迁移定理、运动副替代以及结构变换等方法对并联单元的支链进行构型变换,从而生成不同种类的支链,为并联单元的多样化提供了方法,还为混联机构的型综合及可视化奠定了基础。然后,提出了四自由度混联机构型综合的步骤。通过求和运算法则,由混联机构的末端GF集表达式分别求出2T2R、1T3R、3T1R类混联机构中所具有的并联单元及串联单元的GF集表达式,并以运动特征的形式表示,建立可视化界面。再以并联单元的型综合方法、支链构型变换方法以及串联单元运动副变换为基础,列举出了部分符合要求的混联机构构型,并运用SolidWorks建出实例模型。最后,实现了四自由度混联机构型综合的可视化。以2T2R类混联机构为例,通过可视化总界面选择得到构型及几何条件,最后对得到的具体构型建立三维模型。选择每种类型的实例用GF集型综合逆运算的方法求解自由度,验证了模型的正确性。
[Abstract]:A joint mechanism as the important branch of modern mechanism in the aerospace, medical rehabilitation, industrial robots and other engineering practice has been used widely. The hybrid mechanism type synthesis is a key link of product innovation, has formed a variety of integrated theory and method system. In the process of comprehensive type. The structure condition of the query is more complex, and the degree of visualization. Four degree of freedom hybrid mechanism has been applied, but its configuration is not rich enough. Therefore, this paper based on GF set theory, visual type integrated hybrid mechanism of four degrees of freedom. First of all, the analysis of the basic theory of database and visualization method of GF set. Comparing the type synthesis theory, the final choice of GF set theory. Comprehensive inductive expression and classification of GF sets, pure rotation, and at the same time including pure mobile rotation characteristics and moving characteristics of GF sets Intersection, sum algorithm. The database software tools for analysis, Access2010 was selected as the four degree of freedom parallel mechanism type synthesis software visualization tool. Secondly, expounds the type synthesis steps constitute an important component element of four degree of freedom parallel hybrid mechanism, based on the original branch summarizes each configurations and their corresponding geometric conditions. Based on the theory of GF set, with a string in the form of database configuration and geometry expression, generate visual interface. The use of migration theorem of the axis of rotation, branched pair substitutions and structural change of parallel unit configuration transformation, so as to generate branched different offers. Method for diverse parallel units, but also laid the foundation for the comprehensive and mixed type visualization parallel mechanism. Then, proposed four DOF hybrid mechanism type synthesis by steps. Requirements and operational rules, by the end of the GF hybrid mechanism set expression were calculated for 2T2R, 1T3R, 3T1R mixed parallel unit has connected mechanism and series unit GF set expression, and expressed in the movement in the form of features, establish a visual interface. With the method of type synthesis parallel unit, branched structure transform method and unit series motion transform based, enumerated the parts to meet the requirements of the hybrid mechanism, and the use of SolidWorks to construct the model. Finally, the four degree of freedom parallel mechanism type synthesis of mixed visualization. In type 2T2R mixed parallel mechanism as an example, through the visual interface selection and configuration of general geometry finally, establish the three-dimensional model of the specific configuration obtained. Selected examples of each type of GF type synthesis method for inverse calculation of degree of freedom, verify the correctness of the model.

【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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