车船用并联机构多维减振座椅的设计与研究

发布时间：2018-06-19 15:44

本文选题：并联机构 + 多维减振　；参考：《山东理工大学》2013年硕士论文

【摘要】：多维振动问题普遍存在于机械、航空航天、车辆、仪器仪表等各个工程领域,严重影响了有关人员的安全和设备的性能及使用寿命。如汽车、轮船或飞机在行进中,驾驶员、乘客以及重要精密仪器设备因受外界条件的影响将产生无法避免的多维振动,该振动对人或精密仪器等都会产生一定的损伤或损坏。到目前为止,还没有非常有效的方法解决这一难题。故研究多维减振问题具有十分重要的现实意义和应用价值。为了更有效的解决多维振动问题,本文采用六自由度并联机构作为减振的主体机构,选取磁流变阻尼器作为减振执行器,建立了多维减振系统模型。首先,以螺旋理论为基础,提出了广义等效KP旋量系的概念,并基于广义等效KP旋量系的理论,系统的综合了三支链和六支链的六自由度并联机构。结合减振平台机型的选取原则,对综合出的六自由度并联机构进行了优选,最终选取3-PRPS并联机构作为减振的主体机构。其次,对3-PRPS并联机构进行了运动学和动力学分析,其中用坐标变换法对其位置反解进行了分析,用封闭解法分析了机构的位置正解,并通过Matlab软件编制程序,对正反解进行了数值验证；用影响系数法对其速度和加速度进行了分析；用直角坐标搜索的方法对定姿态的工作空间进行了分析；用拉格朗日方法对机构进行了动力学分析,并且分析了机构的奇异位形,绘制出了奇异轨迹曲面。再次,基于3-PRPS并联机构自身的结构特点,分别设计了单筒充气式磁流变减振器和双出杆磁流变减振器,绘制出了减振器结构图,对阻尼器磁路进行了设计计算,并且对减振器的磁路进行了有限元分析,为减振器的设计制造提供了理论指导。最后,基于减振座椅运动的平稳性定义了平稳性指标,并且对平稳性进行了优化设计,确定了两种减振器的行程,优化了机构的总体参数,绘制出了减振座椅的三维模型图。
[Abstract]:Multi-dimensional vibration is a common problem in mechanical, aerospace, vehicle, instrumentation and other engineering fields, which seriously affects the safety of personnel, equipment performance and service life. For example, in the progress of automobile, ship or aircraft, the driver, passenger and important precision instrument will produce the inevitable multi-dimensional vibration due to the influence of external conditions, which will cause certain damage or damage to human or precision instrument and so on. So far, there is no very effective way to solve this problem. Therefore, the study of multi-dimensional vibration reduction has very important practical significance and application value. In order to solve the multi-dimensional vibration problem more effectively, this paper adopts the six-degree-of-freedom parallel mechanism as the main mechanism of vibration reduction, selects the magnetorheological damper as the vibration absorber actuator, and establishes the multi-dimensional vibration absorption system model. Firstly, based on the spiral theory, the concept of generalized equivalent KP spinor system is proposed. Based on the theory of generalized equivalent KP spinor system, a 6-DOF parallel mechanism with three branches and six branches is systematically integrated. Combined with the selection principle of the damping platform model, the integrated 6-DOF parallel mechanism is optimized, and the 3-PRPS parallel mechanism is finally selected as the main mechanism of vibration reduction. Secondly, the kinematics and dynamics of 3-PRPS parallel mechanism are analyzed, in which the inverse solution of position is analyzed by coordinate transformation method, the positive solution of mechanism is analyzed by closed solution, and the program is programmed by Matlab software. The positive and negative solutions are numerically verified, the velocity and acceleration are analyzed by the influence coefficient method, the workspace of fixed attitude is analyzed by the method of rectangular coordinate search, and the dynamics of the mechanism is analyzed by Lagrange method. The singularity configuration of the mechanism is analyzed and the singular trajectory surface is drawn. Thirdly, based on the structural characteristics of 3-PRPS parallel mechanism, the single-cylinder inflatable magneto-rheological damper and double-rod magnetorheological damper are designed, the structure diagram of the damper is drawn, and the magnetic circuit of the damper is designed and calculated. The finite element analysis of the magnetic circuit of the shock absorber provides theoretical guidance for the design and manufacture of the absorber. Finally, the stationary index is defined based on the motion stability of the damping seat, and the optimal design of the stationarity is carried out, the stroke of the two kinds of shock absorbers is determined, the overall parameters of the mechanism are optimized, and the three-dimensional model diagram of the damping seat is drawn.
【学位授予单位】：山东理工大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TB535

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