3-SPS张拉整体并联机构的构型综合与运动性能分析及能量采集研究
发布时间：2018-11-29 07:58
【摘要】：并联机构具有刚度大、累积误差小、控制精度高、承载能力强等优点,已在运动模拟、空间对接、加工制造等领域得到了广泛的应用。机构学的发展得益于新机构的诞生,近年来,学者们提出了一种新型并联机构——张拉整体并联机构。和传统并联机构不同,张拉整体并联机构中含有弹簧构件,弹簧的使用使这类机构具有了欠驱动的能力。另外,弹簧消除了运动副的间隙,提升了张拉整体并联机构的运动精度。本文系统地研究了3-SPS(Spherical joint-Prismatic joint-Spherical joint)张拉整体并联机构的构型演变、位置正反解、奇异性、工作空间及其在能量采集方面的应用,主要成果如下:1)分析了3-SPS张拉整体并联机构的初始构型,此构型由运动平台、固定平台、三个SPS驱动支链和三根弹簧组成。该并联机构有三输入,而输出却为六个,因此在通常情况下其输出是不确定的。考虑到弹簧的约束,此并联机构处于平衡状态时,输出是可控的。然而当它不处于平衡状态时,必须通过添加从动支链的办法使其输出可控。以此并联机构为初始构型,基于螺旋理论,通过添加不同从动支链演变出了20种具有不同运动特征的三自由度张拉整体并联机构。明确了本文的研究对象:一类是包含从动支链的张拉整体并联机构(非欠驱动张拉整体并联机构);另外一类是不包含从动支链的张拉整体并联机构(欠驱动张拉整体并联机构)。针对这两类张拉整体并联机构,提出了它们的结构描述方法,此方法考虑了对弹簧的描述及运动副轴线在全局坐标系下的方位。2)对两类张拉整体并联机构的位置正解和反解进行了研究。针对非欠驱动张拉整体并联机构的位置正解问题,提出了一种变步长搜索算法,该算法在变量的求解区域内以一定的步长进行逐点搜索。当搜索不到变量的解时,此算法将减小步长进行再次搜索,依此循环下去,直到找到变量的解为止。变步长搜索算法模型简单,对初值不敏感,可推广至任何并联机构的位置正解计算问题。基于能量法,推导了欠驱动张拉整体并联机构的位置正解和反解的一般方程,并通过变步长搜索算法进行了求解。研究结果表明:非欠驱动张拉整体的位置分析(位置正解和反解)仅与其几何形状有关,而欠驱动张拉整体并联机构的位置分析不仅取决于其几何形状还与弹簧的内力有关。变步长搜索算法可有效求解两类张拉整体并联机构的位置分析问题。3)基于正向和反向速度雅可比矩阵,对非欠驱动张拉整体并联机构的奇异性进行了研究。得到了非欠驱动张拉整体并联机构发生第一类奇异、第二类奇异和第三类奇异的条件,绘制了相应的奇异位形。对这类机构的三类奇异性条件进行了分析,并提出了相应的奇异性规避策略。4)对两类张拉整体并联机构的工作空间进行了研究。对于非欠驱动张拉整体并联机构,分析了其工作空间的影响因素:①驱动支链杆长约束;②运动副转角限制;③连杆的干涉。建立了非欠驱动张拉整体并联机构工作空间区域和边界求解的约束方程,并通过数值算法计算了其工作空间体积。分析了工作空间体积对机构参数(位姿/姿态参数)和运动副最大允许转角的敏感度。通过考虑能量约束,提出了欠驱动张拉整体并联机构的工作空间确定方法,并采用数值法计算了其工作空间的体积。5)提出了一种新型3-SPS张拉整体能量采集装置。建立了线性波浪作用下,该能量采集装置的动力学模型。此动力学模型考虑了刚体动力学和流体力学之间的耦合。采用数值法对此动力学方程进行了仿真,分析了3-SPS张拉整体能量采集装置的运动平台在线性波浪作用下沿X轴、Z轴的平动规律及绕Y轴的转动规律。将新型能量采集装置的发电效率和传统浮子式装置的发电效率进行了对比研究,结果表明3-SPS张拉整体能量采集装置的发电效率比传统浮子式装置高20.85%。
[Abstract]:The parallel mechanism has the advantages of large rigidity, small accumulated error, high control precision, strong bearing capacity and the like, and has been widely applied in the fields of motion simulation, space docking, processing and manufacture and the like. The development of institution science has benefited from the birth of the new institution. In recent years, the scholars have put forward a new type of parallel mechanism, the whole parallel mechanism. Unlike the traditional parallel mechanism, the pull-pull integral parallel mechanism comprises a spring member, and the use of the spring makes the type of mechanism have the ability to underdrive. In addition, the spring eliminates the clearance of the motion pair and improves the motion accuracy of the whole parallel mechanism of the tension-pull. This paper systematically studies the configuration evolution, position positive and negative solution, singularity, working space and its application in energy collection of 3-SPS (Spherical joint-Prisma joint-Spherical joint). The main results are as follows: 1) The initial configuration of 3-SPS whole parallel mechanism is analyzed, and this configuration is composed of a motion platform. a fixed platform, three SPS driving branches and three springs. The parallel mechanism has three inputs and the output is six, and therefore its output is not determined in the normal case. The output is controllable when the parallel mechanism is in a balanced state, taking into account the restraint of the spring. however, when it is not in a balanced state, it is necessary to make its output controllable by adding a method from a dynamic chain. With this parallel mechanism as the initial configuration, the three-degree-of-freedom (three-degree-of-freedom) integral parallel mechanism with different motion characteristics is developed by the addition of different dynamic branches based on the spiral theory. The object of the study is defined in this paper: one is the whole parallel mechanism (not under-actuated pull-pull overall parallel mechanism) of the pull-pull integral parallel mechanism (not under-actuated pull-pull overall parallel mechanism) from the dynamic branch chain, and the other is a pull-and-pull integral parallel mechanism (under-actuated pull-pull integral parallel mechanism) from the dynamic branch chain. In this paper, the description of the spring and the orientation of the sub-axis of motion in the global coordinate system are put forward. In this paper, a variable-step search algorithm is proposed for the position-positive solution of the non-underactuated tension-pull integral parallel mechanism, and the algorithm performs point-by-point search in a certain step size in the solution area of the variable. When the solution of the variable is not found, this algorithm will decrease the step size for re-search until the solution of the variable is found. The variable step search algorithm is simple, insensitive to the initial value, and can be extended to any parallel mechanism position positive solution calculation problem. Based on the energy method, the general equation of the position positive and inverse solutions of the under-drive tension-pull integral parallel mechanism is derived and solved by the variable-step search algorithm. The results of the study show that the position analysis of the whole parallel mechanism of the under-actuated tension is only related to the geometric shape, and the position analysis of the under-actuated pull-pull integral parallel mechanism depends not only on its geometry but also on the internal force of the spring. The variable-step search algorithm can effectively solve the problem of the position analysis of two types of pull-pull integral parallel mechanisms. 3) The singularity of the non-underactuated tension-pull integral parallel mechanism is studied based on the Jacobian matrix of forward and reverse speed. The first kind of singular, the second kind of singular and the third kind of singular condition of the non-underactuated pull-pull integral parallel mechanism are obtained, and the corresponding singular bit shape is drawn. The three kinds of singular conditions of this kind of mechanism are analyzed, and the corresponding singularity avoidance strategy is put forward. In this paper, the influence factors of the working space are analyzed for the non-underactuated pull-pull integral parallel mechanism. The analytic equation of the working space region and the boundary of the non-underactuated pull-pull integral parallel mechanism is established, and the volume of the working space is calculated by the numerical algorithm. The sensitivity of the working space volume to the mechanism parameters (the position and attitude parameters) and the maximum allowable rotation angle of the motion pair is analyzed. In this paper, the working space determination method of the total parallel mechanism under the under-drive tension is proposed by considering the energy constraint, and the volume of its working space is calculated by the numerical method. The dynamic model of the energy-collecting device under the action of linear wave is established. This dynamic model takes into account the coupling between rigid body dynamics and fluid mechanics. In this paper, the numerical method is used to simulate the dynamic equation, and the translational law of the motion platform of the 3-SPS whole energy collecting device along the X-axis, the Z-axis and the rotation rule about the Y-axis under the action of linear wave are analyzed. The power generation efficiency of the new energy-collecting device and the power generation efficiency of the conventional float-type device are compared and studied. The results show that the power generation efficiency of the 3-SPS whole energy-collecting device is 20. 85% higher than that of the conventional float-type device.
【学位授予单位】：西安电子科技大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：TH112
本文编号：2364406
[Abstract]:The parallel mechanism has the advantages of large rigidity, small accumulated error, high control precision, strong bearing capacity and the like, and has been widely applied in the fields of motion simulation, space docking, processing and manufacture and the like. The development of institution science has benefited from the birth of the new institution. In recent years, the scholars have put forward a new type of parallel mechanism, the whole parallel mechanism. Unlike the traditional parallel mechanism, the pull-pull integral parallel mechanism comprises a spring member, and the use of the spring makes the type of mechanism have the ability to underdrive. In addition, the spring eliminates the clearance of the motion pair and improves the motion accuracy of the whole parallel mechanism of the tension-pull. This paper systematically studies the configuration evolution, position positive and negative solution, singularity, working space and its application in energy collection of 3-SPS (Spherical joint-Prisma joint-Spherical joint). The main results are as follows: 1) The initial configuration of 3-SPS whole parallel mechanism is analyzed, and this configuration is composed of a motion platform. a fixed platform, three SPS driving branches and three springs. The parallel mechanism has three inputs and the output is six, and therefore its output is not determined in the normal case. The output is controllable when the parallel mechanism is in a balanced state, taking into account the restraint of the spring. however, when it is not in a balanced state, it is necessary to make its output controllable by adding a method from a dynamic chain. With this parallel mechanism as the initial configuration, the three-degree-of-freedom (three-degree-of-freedom) integral parallel mechanism with different motion characteristics is developed by the addition of different dynamic branches based on the spiral theory. The object of the study is defined in this paper: one is the whole parallel mechanism (not under-actuated pull-pull overall parallel mechanism) of the pull-pull integral parallel mechanism (not under-actuated pull-pull overall parallel mechanism) from the dynamic branch chain, and the other is a pull-and-pull integral parallel mechanism (under-actuated pull-pull integral parallel mechanism) from the dynamic branch chain. In this paper, the description of the spring and the orientation of the sub-axis of motion in the global coordinate system are put forward. In this paper, a variable-step search algorithm is proposed for the position-positive solution of the non-underactuated tension-pull integral parallel mechanism, and the algorithm performs point-by-point search in a certain step size in the solution area of the variable. When the solution of the variable is not found, this algorithm will decrease the step size for re-search until the solution of the variable is found. The variable step search algorithm is simple, insensitive to the initial value, and can be extended to any parallel mechanism position positive solution calculation problem. Based on the energy method, the general equation of the position positive and inverse solutions of the under-drive tension-pull integral parallel mechanism is derived and solved by the variable-step search algorithm. The results of the study show that the position analysis of the whole parallel mechanism of the under-actuated tension is only related to the geometric shape, and the position analysis of the under-actuated pull-pull integral parallel mechanism depends not only on its geometry but also on the internal force of the spring. The variable-step search algorithm can effectively solve the problem of the position analysis of two types of pull-pull integral parallel mechanisms. 3) The singularity of the non-underactuated tension-pull integral parallel mechanism is studied based on the Jacobian matrix of forward and reverse speed. The first kind of singular, the second kind of singular and the third kind of singular condition of the non-underactuated pull-pull integral parallel mechanism are obtained, and the corresponding singular bit shape is drawn. The three kinds of singular conditions of this kind of mechanism are analyzed, and the corresponding singularity avoidance strategy is put forward. In this paper, the influence factors of the working space are analyzed for the non-underactuated pull-pull integral parallel mechanism. The analytic equation of the working space region and the boundary of the non-underactuated pull-pull integral parallel mechanism is established, and the volume of the working space is calculated by the numerical algorithm. The sensitivity of the working space volume to the mechanism parameters (the position and attitude parameters) and the maximum allowable rotation angle of the motion pair is analyzed. In this paper, the working space determination method of the total parallel mechanism under the under-drive tension is proposed by considering the energy constraint, and the volume of its working space is calculated by the numerical method. The dynamic model of the energy-collecting device under the action of linear wave is established. This dynamic model takes into account the coupling between rigid body dynamics and fluid mechanics. In this paper, the numerical method is used to simulate the dynamic equation, and the translational law of the motion platform of the 3-SPS whole energy collecting device along the X-axis, the Z-axis and the rotation rule about the Y-axis under the action of linear wave are analyzed. The power generation efficiency of the new energy-collecting device and the power generation efficiency of the conventional float-type device are compared and studied. The results show that the power generation efficiency of the 3-SPS whole energy-collecting device is 20. 85% higher than that of the conventional float-type device.
【学位授予单位】：西安电子科技大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：TH112
【参考文献】
相关期刊论文 前1条
1 路懿;胡波;;少自由度并联机构研究进展[J];燕山大学学报;2011年05期
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