平面多环耦合机构构型综合理论与技术的研究

发布时间：2018-01-30 04:19

  本文关键词： 构型综合 平面运动链 机构创新设计 巴拉诺夫桁架 阿苏尔杆组 周转轮系　出处：《燕山大学》2016年博士论文　论文类型：学位论文

【摘要】：机构是机械装备主要功能的载体和核心,是机械装备拥有良好性能的关键。机构的创新设计是发明机械装备的基石,是研制出性能优良、功能升级以及具有自主知识产权的创新机械装备的根本所在。基于机构构型综合的机构创新设计方法是研发机械设备新机型的有效方法,并使得机械装备的创新设计向自动化、智能化以及人机交互化方向发展。本文围绕平面多环耦合机构构型综合和创新设计中的基本问题:平面运动链的构型综合、平面运动链简图的绘制、平面运动链的结构分析以及平面多环耦合机构创新设计方法等方面展开研究。此外,本文应用平面运动链构型综合的方法和结果,又研究了巴拉诺夫桁架和阿苏尔杆组的构型综合、周转轮系运动链的构型综合以及平面可分离运动链的构型综合。根据平面运动链构件序列数组综合方程组、胚图综合方程组和拓扑图综合方程组综合得到了平面20杆以内、含有2~6个独立环路的所有可能自由度的运动链拓扑图集合;推广平面运动链构型自动方法,综合得到机构的阶为2、4、5、6的运动链拓扑图集合。提出了规范最简胚图的概念;基于规范最简胚图,提出了一种平面单铰运动链简图自动绘制方法;基于平面单铰运动链和平面复铰运动链拓扑图之间的对应关系,提出一种平面复铰运动链简图自动绘制方法。提出了一种基于图论DMP算法的平面运动链的可平面性自动判别算法;提出了平面运动链连通度新计算公式,并基于Floyd-Warshall算法、深度优先搜索算法(DFS)和平面运动链子链自由度叠加算法提出了一种新的平面运动链连通度矩阵自动计算方法;根据圈最小子链自由度叠加集合提出了平面运动链自由度类型自动判别方法和平面运动链按自由度分层简图的绘制方法。介绍了平面机构的拓扑图表达;基于平面机构拓扑图同构判别方法,提出了一种平面多环耦合机构构型的创新设计方法,并基于该方法对正铲液压挖掘机、装载机和锻造操作机等机械装备的主运动机构进行了构型综合和创新设计。研究了巴拉诺夫桁架的结构特点;基于平面运动链综合方法,提出了一种巴拉诺夫桁架自动综合方法,并综合得到了13杆以内所有巴拉诺夫桁架构型;根据巴拉诺夫桁架和阿苏尔杆组之间的对应关系,综合得到了12杆以内所有阿苏尔杆组构型。研究了周转轮系运动链的结构特点,基于图的基本关联矩阵生成树计数算法,提出了一种新的周转轮系运动链拓扑图综合方法,根据平面可分离运动链的结构特点,提出了平面构件和运动副可分离运动链构型综合方法,综合得到了平面2和3自由度可分离运动链拓扑图集合。
[Abstract]:The main mechanism is the carrier and core function of mechanical equipment, mechanical equipment is the key to have a good performance. The innovative design of the mechanism is the cornerstone of the invention of the mechanical equipment, is to develop a good performance, as well as a fundamental function upgrade with independent intellectual property rights innovation in mechanical equipment. Mechanism of mechanism synthesis is an effective design method based on innovation methods for the development of machinery and equipment of the new models, and the innovative design of mechanical equipment automation, intelligent and interactive development. This paper focuses on the basic problems of planar multi coupling mechanism configuration synthesis and innovative design: synthesis of planar kinematic chain configuration and sketching of planar kinematic chain, research on structure analysis of plane motion chain and coupling mechanism creative design method of planar multi and so on. In addition, the method and results of the application of planar kinematic chain structural synthesis, Study of integrated Baranov truss and Assur Group configuration of planetary gear train chain configuration synthesis and separation plane kinematic chain. According to the configuration synthesis of planar kinematic chain component sequence array synthesis equations, graph synthesis equations and topology synthesis equations are integrated within the plane 20 bar, all the possible set of sports chain topology freedom contains 2~6 independent loop; generalized planar kinematic chain configuration automatic method, comprehensive mechanism level set for the kinematic chain topology of 2,4,5,6. Put forward the concept of standard simplest graph specification; the simplest graph based on the proposed automatic drawing method for planar kinematic chain sketch; correspondence planar kinematic chain with multiple joints and planar kinematic chain topology based on between a plane multiple joint kinematic chain of automatic drawing method. Based on the map Planar kinematic chain theory DMP algorithm of planar automatic discrimination algorithm is proposed; planar kinematic chain connectivity, a new calculating formula, based on the Floyd-Warshall algorithm, the algorithm of depth first search (DFS) and plane motion chain to chain freedom superposition algorithm presents a new planar kinematic chain connectivity matrix according to the automatic calculation method; the minimal degree of freedom ring chain stack collection presents freedom types of planar kinematic chains and automatic judgment method of planar kinematic chain according to the drawing method of degrees of freedom. The expression of hierarchical topology of planar mechanism; plane mechanism topology identification method based on graph isomorphism, put forward an innovative design method of planar multi coupling mechanism configuration and, based on the method of face shovel hydraulic excavator, the main movement mechanism of the loader and forging operation machine machinery and equipment of comprehensive configuration and innovative design. The research of Ba Barranov truss structure; synthesis method of planar kinematic chains based on a Baranov truss automated synthesis method, and obtained 13 bar truss configurations within all Baranov; according to the relationship between the Baranov truss and Assur Group, has been integrated within 12 links all Assur Group configuration. The structure characteristics of epicyclic gear train the kinematic chain was studied, the basic relation matrix spanning tree algorithm based on counting, put forward a new kind of epicyclic gear train kinematic chain topological graph method, according to the planar kinematic chain separable structure characteristics, put forward the planar member and kinematic pair separable kinematic chain configuration synthesis method to get a comprehensive and 2 plane 3 degrees of freedom can be separated from the kinematic chain topological graph set.

【学位授予单位】：燕山大学
【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：1475274