运动链型综合的基本回路方法及混合驱动机构构型设计

发布时间：2018-01-15 15:43

  本文关键词：运动链型综合的基本回路方法及混合驱动机构构型设计　出处：《中北大学》2016年博士论文　论文类型：学位论文

  更多相关文章： 运动链 型综合 同构识别 刚性子链 驱动件选取 混合驱动机构 构型设计

【摘要】：机构创新设计在很大程度上决定了机械产品的创新性,机构的创新设计所要解决的主要问题即为运动链拓扑结构学的研究,所以运动链型综合研究在机构创新设计中占用十分重要的地位。寻求一种计算机自动实现构型创新设计的理论和方法一直以来都是机构创新设计的研究热点。现阶段还没有完全实现机构创新设计的自动化。本文以实现运动链型综合的自动化设计为研究目标,根据类型综合创新方法,首先从已有的运动链图谱中,选择满足设计要求的可行运动链;其次根据需要对机架进行合理的变换,选取合适的构件为驱动件;最后得到满足设计要求的混合驱动机构的机构构型。本文主要内容包括以下几个方面:基于图论,建立了运动链构件、运动副以及各个基本独立回路之间关系的基本回路方法;提出了运动链基本回路矩阵的表达方法;确定了基本回路矩阵之间的运算法则及运算的基本性质。运动链基本回路分析方法,为后续章节的运动链同构识别、刚性子链识别及消除、驱动件的选取及机架变换分析方法提供了分析计算基础。根据运动链基本回路方法,建立了运动链基本回路类型集,将复杂图形的运动链分解为相对独立简单的基本子图。通过对简单子图的同构识别,实现了运动链的同构识别。通过分析基本回路与其他回路之间的关系,提出了运动链刚性子链的判断方法。通过运动链基本回路矩阵间的运算,实现了运动链刚性子链的识别和消除。对运动链的同构识别和刚性子链的识别与消除的计算过程进行编程,实现了计算机的自动化。通过分析运动链的运动规律,提出了多自由度运动链驱动件的选取方法。数学方法验证了此方法的正确性。基于运动链基本回路矩阵,进行了多自由度运动链驱动件选取过程的数值分析计算。计算编程实现了运动链驱动件的自动选取。运动链向机构演化时,选择不同的构件为机架时会产生相同的构型即产生机构同构问题。提出了机构同构识别的方法。结合驱动件的选取方法,确定了当驱动件为连架杆时,机构的确定方法。利用运动链基本回路方法,实现了当驱动件为连架杆时,确定满足条件的机构的计算过程。计算机编程实现了运动链取不同机架、驱动件为连架杆时,机构的自动确定。为实现机构型综合的自动化研究奠定了基础。对二自由度、三自由度十杆以内的部分运动链进行了分析,确定了驱动件为连架杆的机构,得到了可作为多自由度混合驱动机构的构型,对其中一种混合驱动机构的驱动能力进行了分析,为多自由度混合驱动机构的研究奠定基础。
[Abstract]:The innovative design of mechanism determines the innovation of mechanical products to a great extent. The main problem to be solved in the innovative design of mechanism is the study of the topological structure of kinematic chain. Therefore, the research of kinematic chain type synthesis occupies a very important position in the mechanism innovation design. At the same time, the automatization of mechanism innovation design has not been completely realized. This paper aims to realize the automatic design of kinematic chain synthesis. According to the innovative method of type synthesis, the feasible kinematic chains which meet the design requirements are selected from the existing kinematic chain atlas. Secondly, according to the needs of the rack reasonable transformation, select the appropriate components as the driving parts; Finally, the configuration of the hybrid drive mechanism is obtained. The main contents of this paper are as follows: based on graph theory, the kinematic chain component is established. The basic loop method of the relation between the motion pair and each basic independent loop; The expression method of the basic loop matrix of the kinematic chain is presented. The algorithms and the basic properties of the basic loop matrix are determined. The basic loop analysis method of the kinematic chain is the isomorphic recognition of the kinematic chain and the recognition and elimination of the rigid subchain in the following chapters. The selection of drive parts and the analysis method of frame transformation provide the basis of analysis and calculation. According to the method of basic loop of motion chain, the basic loop type set of motion chain is established. The motion chain of the complex graph is decomposed into a relatively independent and simple basic subgraph. The isomorphism recognition of the motion chain is realized by recognizing the isomorphism of the simple subgraph, and the relationship between the basic loop and other circuits is analyzed. A method for judging rigid subchains of kinematic chains is presented, and the calculation between the matrix of the basic loop of kinematic chains is carried out. The recognition and elimination of rigid sub-chains of kinematic chains are realized. The calculation process of isomorphic recognition of kinematic chains and recognition and elimination of rigid sub-chains is programmed. The automation of computer is realized. By analyzing the motion law of kinematic chain, the method of selecting the driver of multi-degree-of-freedom kinematic chain is put forward. The correctness of this method is verified by mathematical method, based on the basic loop matrix of kinematic chain. Numerical analysis and calculation of the selection process of the multi-degree-of-freedom kinematic chain driver are carried out. The automatic selection of the motion chain driver is realized by computer programming. When the kinematic chain evolves to the mechanism. When different components are selected as frame, the same configuration will be produced, that is, the isomorphism problem of mechanism is produced. The method of mechanism isomorphism identification is put forward. Combined with the method of selecting driving parts, it is determined that when the driving member is connected with the frame, the mechanism isomorphism problem is produced. The method of determining the mechanism. By using the basic loop method of the kinematic chain, the calculation process of the mechanism which meets the conditions is realized when the driver is connected with the frame. The computer program realizes the different frame of the motion chain. The automatic determination of the mechanism when the driver is connected to the frame rod, which lays the foundation for the automation research of the mechanism synthesis. The partial kinematic chain with two degrees of freedom and ten bars of three degrees of freedom is analyzed. The structure of the multi-degree-of-freedom hybrid drive mechanism is obtained, and the driving ability of one of the hybrid drive mechanisms is analyzed. It lays a foundation for the research of multi-degree of freedom hybrid drive mechanism.
【学位授予单位】：中北大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TH112
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本文编号：1429019