基于等效阻力梯度的约束变胞运动副结构综合

发布时间：2018-01-10 14:04

本文关键词：基于等效阻力梯度的约束变胞运动副结构综合　出处：《东北大学》2012年硕士论文　论文类型：学位论文

【摘要】：变胞机构是一种可变拓扑构型、变自由度的新型机构。其变胞原理是通过设计机构的几何参数、力约束以及构件和运动副等约束相应变胞副的运动,改变机构不同工作阶段的拓扑结构,以适应不同的工况。随着对变胞机构理论研究的不断深入,对变胞机构实际应用的需求也在逐步提升,而现有的变胞机构综合理论仅仅可以满足构态变换的要求,不能保证构态变换过程中构型保持和运动时序的问题,因此本文提出面向变胞全过程的变胞机构综合理论。本文主要的研究内容如下： (1)根据变胞运动副约束形式的不同,对变胞运动副进行分类,并分别对每种类型变胞副的常用结构进行设计与分析,阐述其变胞过程及变胞原理；通过对变胞过程中变胞副阻力变化情况的分析,获取不同类型变胞运动副的阻力变化线图,从而归纳出变胞运动副的力特性变化规律。 (2)基于提出的调控变胞运动副等效阻力梯度的变胞原理,运用变胞机构等效阻力梯度模型理论,建立了变胞机构的构态、变胞运动副的运动与其等效阻力梯度建立了对应关系,揭示了变胞运动副的等效阻力、约束特点、约束形式和结构形式的内在联系。 (3)根据变胞副组合的等效阻力梯度线图,经矩阵运算得到2自由度变胞机构中两个变胞副进行组合的所有情况和3自由度变胞机构中三个变胞副进行组合的所有情况；通过构型综合实例对2自由度变胞机构的构型综合过程进行系统的说明。 (4)提出一种能够实现变胞全过程的变胞机构综合的方法,同时阐述了变胞机构综合的主要过程和步骤；运用本文所提出的变胞机构综合理论对物料运输机构进行构型综合,验证了该理论的正确性和方法的可行性。
[Abstract]:Metamorphic mechanism is a new mechanism with variable topological configuration and variable degree of freedom. With the development of the theory of metamorphic mechanism, the demand for practical application of metamorphic mechanism is gradually raised. However, the existing synthesis theory of metamorphic mechanism can only satisfy the requirements of structural transformation, and can not guarantee the problem of configuration preservation and motion timing in the process of structural transformation. Therefore, the synthesis theory of metamorphic mechanism for the whole process of metamorphic cell is proposed in this paper. The main contents of this paper are as follows: 1.According to the different constraint forms of metamorphic pairs, the metamorphic pairs are classified, and the common structures of each type of metamorphic pairs are designed and analyzed respectively, and the metamorphosis process and the metamorphic principle of metamorphic pairs are expounded. Based on the analysis of resistance change of metamorphic pairs during metamorphosis, the resistance curves of different types of metamorphic pairs are obtained, and the changing law of force characteristics of metamorphic pairs is concluded. 2) based on the metamorphic principle of regulating the equivalent resistance gradient of metamorphic mechanism, the structure of metamorphic mechanism is established by using the theory of equivalent resistance gradient model of metamorphic mechanism. The relationship between the motion of the metamorphic pair and its equivalent resistance gradient is established. The internal relations of the equivalent resistance, the constraint characteristics, the constraint form and the structural form of the metamorphic pair are revealed. (3) according to the equivalent resistance gradient diagram of metamorphic sub-assembly. By matrix operation, all cases of two metamorphic pairs combined in 2-DOF metamorphic mechanism and the combination of three metamorphic pairs in 3-DOF metamorphic mechanism are obtained. The configuration synthesis process of a 2-DOF metamorphic mechanism is systematically explained by an example of configuration synthesis. (4) A method of metamorphic mechanism synthesis which can realize the whole process of metamorphic mechanism is put forward, and the main process and steps of metamorphic mechanism synthesis are expounded. By using the metamorphic mechanism synthesis theory proposed in this paper, the structure synthesis of material transportation mechanism is carried out, which verifies the correctness of the theory and the feasibility of the method.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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