含间隙曲柄群驱动机构动力学研究
发布时间：2018-10-24 17:22
【摘要】：曲柄群驱动机构是一种新型传动机构,能够实现多个平行轴之间的同步传动。本课题基于含间隙平面连杆机构动力学理论与研究成果以及平面连杆机构的平衡理论与研究,对含间隙曲柄群驱动机构进行了动力学研究。本课题对理想曲柄群驱动机构进行运动和受力分析,建立动力学模型；并对该机构惯性力平衡问题进行理论研究、虚拟仿真和实验验证。本课题还对含间隙曲柄群驱动机构进行动力学理论分析,建立基于连续接触模型的动力学模型；利用虚拟仿真软件ADAMS对比分析,得出间隙对该机构的影响,并且提出控制该影响的方法。本课题主要内容如下：(1)分析总结曲柄群驱动机构由平行双曲柄机构组合演变而来的过程；在不考虑运动副间隙的前提下,对曲柄群驱动机构的基本单元一一平行双曲柄机构进行了运动和受力分析,建立动力学模型。在此基础上,根据曲柄群驱动机构由平行双曲柄机构组合演变而来的规律,递进推导出曲柄群驱动机构动力平衡方程,建立动力学模型和数学模型,并介绍了动力学模型的求解方法。(2)采用经典的平衡方法一一质量替代法和线性独立矢量法,分别形成针对曲柄群驱动机构平面内惯性力的平衡方法,并且推导出平衡所满足的条件。以六个曲柄的曲柄群驱动机构为算例,运用惯性力平衡方法,计算出平衡质量的大小。通过动力学仿真软件ADAMS仿真分析,对比平衡前后机构总质心位置,从而验证了平衡理论的正确性,达到惯性力平衡的目的。(3)指出曲柄群驱动机构是一种含冗余虚约束的多间隙机构。对其基本单元一一含间隙平行双曲柄机构进行运动和动力学分析,采用基于连续接触模型的拉格朗日(Lagrange)法建立其动力学模型。递进地建立含间隙曲柄群驱动机构的动力学模型,并对求解方法作以介绍。利用多体动力学仿真软件ADAMS建立曲柄群驱动机构虚拟仿真模型,对理想和含间隙、间隙半径不同、曲柄转速不同时动态特性对比分析,得出间隙对该机构的影响,提出控制间隙造成的影响的方法。(4)实验验证曲柄群驱动机构平面内惯性力平衡理论。设计制造实验平台,采用压电式加速度传感器,测量机构运转中加速度的波动情况,利用DH5922N通用型动态信号测试分析系统采集并分析所得到的数据。对比平衡前后机构加速度变化情况,验证平衡理论。本课题的创新点在于：(1)从“单元”到“整体”的研究方法。根据曲柄群驱动机构可由平行双曲柄机构组合演变而来的特点,先研究其基本单元一一平行双曲柄,再通过递进推导的方法研究整个曲柄群驱动机构；(2)双路线,层层对比的思路。对比研究不考虑间隙和含间隙的曲柄群驱动机构,通过仿真和实验横向和纵向的层层对比,验证结果的正确性。
[Abstract]:Crank group drive mechanism is a new type of transmission mechanism, which can realize synchronous transmission between parallel shafts. Based on the dynamic theory and research results of planar linkage mechanism with clearance and the balance theory and research of planar linkage mechanism, the dynamics of crank group driving mechanism with clearance is studied in this paper. In this paper, the motion and force of the ideal crank group driving mechanism are analyzed, the dynamic model is established, and the inertial force balance problem of the mechanism is studied in theory, virtual simulation and experimental verification. The dynamic theory analysis of crank group driving mechanism with clearance is carried out, and the dynamic model based on continuous contact model is established, and the influence of clearance on the mechanism is obtained by comparing and analyzing the virtual simulation software ADAMS. A method to control the influence is also proposed. The main contents of this paper are as follows: (1) analyze and summarize the evolution process of crank group driving mechanism from parallel double crank mechanism combination, without considering the clearance of motion pair, The basic unit of crank group driving mechanism, parallel double crank mechanism, is analyzed in motion and force, and the dynamic model is established. On this basis, according to the law that the crank group drive mechanism evolves from the parallel double crank mechanism combination, the dynamic balance equation of the crank group driving mechanism is derived, and the dynamic model and mathematical model are established. The method of solving the dynamic model is introduced. (2) the classical balance method, mass substitution method and linear independent vector method are used to form the balance method for the inertia force in the plane of the crank group driving mechanism. And the conditions of equilibrium are deduced. Taking the crank group drive mechanism of six crank as an example, the size of the balance mass is calculated by using the inertial force balance method. Through the simulation analysis of dynamics simulation software ADAMS, the position of the total center of mass of the mechanism before and after balancing is compared, which verifies the correctness of the balance theory. The purpose of inertial force balance is achieved. (3) it is pointed out that the crank group drive mechanism is a kind of multi-clearance mechanism with redundant virtual constraints. The kinematics and dynamics of the basic element parallel double crank mechanism with clearance are analyzed. The Lagrangian (Lagrange) method based on continuous contact model is used to establish its dynamic model. The dynamic model of crank group driving mechanism with clearance is established step by step, and the solving method is introduced. The virtual simulation model of crank group driving mechanism is established by using multi-body dynamics simulation software ADAMS. The effects of clearance on the mechanism are compared and analyzed for ideal and different gap radius and different dynamic characteristics of crank rotational speed. A method for controlling the effect of clearance is proposed. (4) the theory of inertial force balance in the plane of crank group driven mechanism is verified by experiments. The experimental platform is designed and manufactured. The piezoelectric acceleration sensor is used to measure the acceleration fluctuation in the operation of the mechanism. The data obtained are collected and analyzed by using the DH5922N universal dynamic signal test and analysis system. Comparing the acceleration change of the mechanism before and after balancing, the balance theory is verified. The innovation of this thesis lies in: (1) the research method from "unit" to "whole". According to the characteristic that crank group drive mechanism can evolve from parallel double crank mechanism, the basic unit of crank group driving mechanism, parallel double crank mechanism, is studied first, and then the whole crank group driving mechanism is studied by the method of stepwise derivation. (2) double route, Layers of contrasting ideas. In this paper, the crankcase group driving mechanism with clearance and clearance is not considered, and the correctness of the results is verified by the horizontal and longitudinal comparison of simulation and experiment.
【学位授予单位】：陕西科技大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TH112
本文编号：2292045
[Abstract]:Crank group drive mechanism is a new type of transmission mechanism, which can realize synchronous transmission between parallel shafts. Based on the dynamic theory and research results of planar linkage mechanism with clearance and the balance theory and research of planar linkage mechanism, the dynamics of crank group driving mechanism with clearance is studied in this paper. In this paper, the motion and force of the ideal crank group driving mechanism are analyzed, the dynamic model is established, and the inertial force balance problem of the mechanism is studied in theory, virtual simulation and experimental verification. The dynamic theory analysis of crank group driving mechanism with clearance is carried out, and the dynamic model based on continuous contact model is established, and the influence of clearance on the mechanism is obtained by comparing and analyzing the virtual simulation software ADAMS. A method to control the influence is also proposed. The main contents of this paper are as follows: (1) analyze and summarize the evolution process of crank group driving mechanism from parallel double crank mechanism combination, without considering the clearance of motion pair, The basic unit of crank group driving mechanism, parallel double crank mechanism, is analyzed in motion and force, and the dynamic model is established. On this basis, according to the law that the crank group drive mechanism evolves from the parallel double crank mechanism combination, the dynamic balance equation of the crank group driving mechanism is derived, and the dynamic model and mathematical model are established. The method of solving the dynamic model is introduced. (2) the classical balance method, mass substitution method and linear independent vector method are used to form the balance method for the inertia force in the plane of the crank group driving mechanism. And the conditions of equilibrium are deduced. Taking the crank group drive mechanism of six crank as an example, the size of the balance mass is calculated by using the inertial force balance method. Through the simulation analysis of dynamics simulation software ADAMS, the position of the total center of mass of the mechanism before and after balancing is compared, which verifies the correctness of the balance theory. The purpose of inertial force balance is achieved. (3) it is pointed out that the crank group drive mechanism is a kind of multi-clearance mechanism with redundant virtual constraints. The kinematics and dynamics of the basic element parallel double crank mechanism with clearance are analyzed. The Lagrangian (Lagrange) method based on continuous contact model is used to establish its dynamic model. The dynamic model of crank group driving mechanism with clearance is established step by step, and the solving method is introduced. The virtual simulation model of crank group driving mechanism is established by using multi-body dynamics simulation software ADAMS. The effects of clearance on the mechanism are compared and analyzed for ideal and different gap radius and different dynamic characteristics of crank rotational speed. A method for controlling the effect of clearance is proposed. (4) the theory of inertial force balance in the plane of crank group driven mechanism is verified by experiments. The experimental platform is designed and manufactured. The piezoelectric acceleration sensor is used to measure the acceleration fluctuation in the operation of the mechanism. The data obtained are collected and analyzed by using the DH5922N universal dynamic signal test and analysis system. Comparing the acceleration change of the mechanism before and after balancing, the balance theory is verified. The innovation of this thesis lies in: (1) the research method from "unit" to "whole". According to the characteristic that crank group drive mechanism can evolve from parallel double crank mechanism, the basic unit of crank group driving mechanism, parallel double crank mechanism, is studied first, and then the whole crank group driving mechanism is studied by the method of stepwise derivation. (2) double route, Layers of contrasting ideas. In this paper, the crankcase group driving mechanism with clearance and clearance is not considered, and the correctness of the results is verified by the horizontal and longitudinal comparison of simulation and experiment.
【学位授予单位】：陕西科技大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TH112
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