搅拌摩擦焊机床3-PRS并联头精度分析
发布时间：2019-04-08 20:26
【摘要】：搅拌摩擦焊技术是上世纪末发明的新型固相焊接技术,广泛应用在航空航天、汽车、船舶等工业领域。由于搅拌摩擦焊过程作用力较大,对机床刚度要求高,因此多自由度搅拌摩擦焊机床经常采用并联结构。本文针对所开发的3-PRS结构搅拌摩擦焊并联头,根据其制造和加工中可能存在的误差,以及厚板搅拌摩擦焊过程的载荷情况,对该结构并联头的精度进行了分析。具体内容如下:首先,对3-PRS并联机构的运动学进行了研究。包括建立3-PRS并联机构的数学模型和姿态描述方式,求得了该机构的逆解,以及在此基础上,利用数值法求出正解。其次,对机构的制造安装误差对精度的影响进行了研究。包括建立3-PRS机构的六自由度等效机构来抵消3-PRS机构自身约束,找出3-PRS机构中所有对精度有影响的制造安装误差源并将它们对应到六自由度等效机构中,采用正解模拟法研究各误差源的影响。然后,对3-PRS并联头的静刚度进行了研究。包括对机构的整体受力分析,根据单支路的受力特点将其等效为两个方向的弹簧,利用有限元方法计算其刚度,在求得各支路变形之后利用动平台约束方程求最终刀头点的变形。最后,编写了3-PRS并联机床辅助设计软件误差分析的部分。包括利用MATLAB.GUI编写受载后刀头变形计算界面和制造安装误差输入界面以及误差存在时的正逆解计算界面。然后根据上面的分析,结合具体实例进行计算,并与仿真结果进行对比分析,验证了软件的稳定性和计算结果的可靠性。
[Abstract]:Friction stir welding (FSW) is a new solid-state welding technology invented at the end of last century, which is widely used in aerospace, automobile, ship and other industries. The friction stir welding machine with multiple degrees of freedom often adopts parallel structure because of the large force in the process of friction stir welding and the high stiffness of the machine tool. In this paper, the precision of the parallel head of 3-PRS structure is analyzed according to the possible errors in its manufacture and machining and the load in the process of thick plate friction stir welding, aiming at the developed parallel head of friction stir welding (FSW). The main contents are as follows: firstly, the kinematics of 3-PRS parallel mechanism is studied. The mathematical model and attitude description method of 3-PRS parallel mechanism are established, and the inverse solution of the mechanism is obtained. On the basis of this, the forward solution is obtained by numerical method. Secondly, the influence of the manufacturing and installation error of the mechanism on the precision is studied. Including the establishment of the six-degree-of-freedom equivalent mechanism of the 3-PRS mechanism to counteract the constraints of the 3-PRS mechanism itself, to identify all manufacturing and installation error sources in the 3-PRS mechanism that have an impact on the accuracy and to correspond them to the six-degree-of-freedom equivalent mechanism. The positive solution simulation method is used to study the influence of various error sources. Then, the static stiffness of the 3-PRS parallel head is studied. Including the analysis of the whole force of the mechanism, according to the mechanical characteristics of the single branch, it is equivalent to the spring in two directions, and the stiffness of the mechanism is calculated by the finite element method. After the deformation of each branch is obtained, the deformation of the final tool point is obtained by using the constraint equation of the moving platform. Finally, the error analysis part of 3-PRS parallel machine tool aided design software is compiled. It includes the interface for calculating the deformation of the loaded cutter head, the input interface for manufacturing installation error and the interface for calculating the forward and inverse solutions in the presence of errors by using MATLAB.GUI. Then according to the above analysis, combined with a concrete example to carry on the calculation, and carries on the contrast analysis with the simulation result, verifies the software stability and the calculation result reliability.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG439.8
本文编号：2454895
[Abstract]:Friction stir welding (FSW) is a new solid-state welding technology invented at the end of last century, which is widely used in aerospace, automobile, ship and other industries. The friction stir welding machine with multiple degrees of freedom often adopts parallel structure because of the large force in the process of friction stir welding and the high stiffness of the machine tool. In this paper, the precision of the parallel head of 3-PRS structure is analyzed according to the possible errors in its manufacture and machining and the load in the process of thick plate friction stir welding, aiming at the developed parallel head of friction stir welding (FSW). The main contents are as follows: firstly, the kinematics of 3-PRS parallel mechanism is studied. The mathematical model and attitude description method of 3-PRS parallel mechanism are established, and the inverse solution of the mechanism is obtained. On the basis of this, the forward solution is obtained by numerical method. Secondly, the influence of the manufacturing and installation error of the mechanism on the precision is studied. Including the establishment of the six-degree-of-freedom equivalent mechanism of the 3-PRS mechanism to counteract the constraints of the 3-PRS mechanism itself, to identify all manufacturing and installation error sources in the 3-PRS mechanism that have an impact on the accuracy and to correspond them to the six-degree-of-freedom equivalent mechanism. The positive solution simulation method is used to study the influence of various error sources. Then, the static stiffness of the 3-PRS parallel head is studied. Including the analysis of the whole force of the mechanism, according to the mechanical characteristics of the single branch, it is equivalent to the spring in two directions, and the stiffness of the mechanism is calculated by the finite element method. After the deformation of each branch is obtained, the deformation of the final tool point is obtained by using the constraint equation of the moving platform. Finally, the error analysis part of 3-PRS parallel machine tool aided design software is compiled. It includes the interface for calculating the deformation of the loaded cutter head, the input interface for manufacturing installation error and the interface for calculating the forward and inverse solutions in the presence of errors by using MATLAB.GUI. Then according to the above analysis, combined with a concrete example to carry on the calculation, and carries on the contrast analysis with the simulation result, verifies the software stability and the calculation result reliability.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TG439.8
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