空间三平移分布柔度式柔顺机构构型设计

发布时间：2018-03-08 07:55

本文选题：全柔性并联机构　切入点：分布柔度式柔顺机构　出处：《江西理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：精密制造已经成为制造领域的研究热点之一,广泛应用于制造业、建筑业、国防工业、医学等尖端领域。精密定位机构作为精密制造的核心部分,其设计水平的高低将直接影响精密制造的水平。集成式全柔性并联定位机构通过弹性变形来实现力、能量、运动的传递,相对于传统的并联定位机构具有高刚度、高精度、无摩擦的优点,因此被广泛的应用于精密定位领域,然而随着精密制造行业的快速发展,对定位精度的要求也越来越高,在一些精密定位领域,集成式全柔性并联微定位机构已经无法满足精度要求。所以设计一种动态特性好、定位精度高以及实用性强的超精密定位机构则显得非常重要。本文引入拓扑优化设计理论,对3-RPC型空间分布柔度式柔顺机构进行拓扑优化设计。得到优化后的三维构型,通过有限元分析软件对其进行静、动力学仿真,并对实体模型进行实验研究。本文主要研究工作:(1)以3-RPC并联定位机构为研究对象,通过微位移法求解出其输入输出之间的映射关系,并结合型综合理论,设计出3-RPC型全柔性、集成式全柔性定位机构;引入拓扑优化理论,设计出3-PRC型分布柔度式柔顺机构,通过三维软件Solidworks创建3种定位机构的三维模型;(2)对3种不同几何结构的3-RPC型定位机构进行静、动力学分析。相对于另外两种并联定位机构,3-RPC分布柔度式柔顺定位机构的运动精度更高、动态性能更好。验证了3-RPC分布柔度式柔顺定位机构构型设计的合理性。(3)通过实体实验测试3-RPC分布柔度式柔顺机构动平台中心点沿着各个运动轴方向上的实际运动轨迹以及定位精度,并对误差产生的原因进行了分析。测试结果表明3-RPC分布柔度式柔顺机构能实现空间三平移运动,而且精度更高,误差在允许范围内。
[Abstract]:Precision manufacturing has become one of the research hotspots in manufacturing field. It is widely used in advanced fields such as manufacturing industry, construction industry, national defense industry, medicine and so on. Precision positioning mechanism is the core part of precision manufacturing. The level of design will directly affect the level of precision manufacturing. The integrated fully flexible parallel positioning mechanism realizes the transfer of force, energy and motion through elastic deformation, which has high stiffness and high precision compared with the traditional parallel positioning mechanism. Friction free advantage, so it is widely used in the field of precision positioning, but with the rapid development of precision manufacturing industry, the requirements for positioning accuracy are also higher and higher, in some areas of precision positioning, Therefore, it is very important to design a kind of ultra-precision positioning mechanism with good dynamic characteristics, high positioning accuracy and strong practicability. The topological optimization design of 3-RPC spatial distributed flexibility compliant mechanism is carried out. The optimized three-dimensional configuration is obtained, and the static and dynamic simulation is carried out by finite element analysis software. In this paper, the 3-RPC parallel positioning mechanism is taken as the research object, and the mapping relationship between the input and output of the mechanism is solved by the micro-displacement method, and the 3-RPC type full flexibility is designed in combination with the type synthesis theory. The 3-PRC distributed flexibility compliant mechanism is designed by introducing the topology optimization theory, and the 3D model of three kinds of positioning mechanism is created by using 3D software Solidworks. Dynamic analysis. Compared with the other two parallel positioning mechanisms, the kinematic accuracy of the 3-RPC compliant compliant positioning mechanism is higher than that of the other two parallel positioning mechanisms. The dynamic performance is better. The rationality of the configuration design of 3-RPC distributed compliance compliant positioning mechanism is verified. 3) the actual movement of the center point of 3-RPC distributed compliance compliant mechanism along each moving axis is tested by solid experiment. Track and positioning accuracy, The test results show that the 3-RPC distributed compliance mechanism can realize the three dimensional translation motion, and the accuracy is higher, and the error is within the allowable range.
【学位授予单位】：江西理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH112

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