并联机构轮胎成型鼓的运动学与动力学研究

发布时间：2018-01-09 07:14

本文关键词：并联机构轮胎成型鼓的运动学与动力学研究　出处：《山东理工大学》2012年硕士论文　论文类型：学位论文

【摘要】：并联机构以其自身的优势在工业机器人、航空航天、医疗设备、装备制造业以及娱乐等领域具有广泛的应用。近年来是机械行业和自动化领域研究的热点。本课题以并联机构轮胎成型鼓为研究对象,对其结构学、运动学和动力学方面进行了较为系统的研究。首先,对并联机构的拓扑结构进行了研究,它是分析并联机构结构的基础；对分析并联机构运动学的基础理论和动力学分析的常用方法进行了研究。其次,依据并联机构拓扑结构理论分析了轮胎成型鼓机构的自由度以及运动输出特性,依据运动学基本知识,对机构的位置正、反解,运动轨迹等问题进行了研究,建立了机构的虚拟样机并利用仿真软件ADAMS对其进行了运动特性分析。再次,在考虑机构构件全为刚体的情况下,利用牛顿—欧拉法建立了其动力学方程,并利用ADAMS对其进行了动力学特性分析。最后,在考虑构件弹性变形情况下,利用空间梁单元模型理论,推导出梁单元与支链的动力学方程,进而装配得到成型鼓机构的动力学方程,分析了机构固有频率与其基本参量间的内在关系,并对构件的动应力进行了研究。通过以上分析与研究,对并联机构轮胎成型鼓的结构、运动学、动力学性能有了具体且深入的了解,为轮胎成型鼓机构的实际应用奠定了良好的基础。
[Abstract]:Parallel mechanism with its own advantages in the industrial robot, aerospace, medical equipment, has been widely applied to the field of equipment manufacturing industry and entertainment. In recent years, is a hot research field of automation and mechanical industry. This paper takes the parallel tire shaping drum mechanism as the research object, its structure, are studied systematically the kinematics and dynamics.
Firstly, the topological structure of parallel mechanism is studied. It is the foundation of analyzing the structure of parallel mechanism. The basic theory and dynamic analysis method of kinematics analysis of parallel mechanism are studied.
Secondly, based on the topological theory of parallel mechanism of tire shaping drum mechanism freedom and movement output characteristics, based on the basic knowledge of kinematics, the position of the mechanism is that the solution of inverse trajectory was studied and established the virtual prototype of mechanism and using the simulation software ADAMS for the analysis of the motion characteristics.
Thirdly, considering the mechanism components as the rigid body case, the dynamic equation is established by using Newton Euler method, using ADAMS and the dynamic characteristics are analyzed.
Finally, considering the elastic deformation of components under the condition of using the space beam element model, dynamic equations of the beam element and the branched chain is derived, and then the assembly dynamic equations are obtained by molding mechanism, analyzes the internal relationship mechanism between the natural frequency and basic parameters, and the dynamic stress of the component were studied.
Through the above analysis and research, we have a detailed and in-depth understanding of the structure, kinematics and dynamics performance of the tire forming drum of the parallel mechanism, and lay a good foundation for the practical application of the tire forming drum mechanism.

【学位授予单位】：山东理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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