含适应性驱动支链的六自由度并联机构的性能分析与优化

发布时间：2018-01-20 07:26

本文关键词： 并联机构适应性驱动支链性能分析优化研究　出处：《哈尔滨工业大学》2011年硕士论文　论文类型：学位论文

【摘要】：随着科学技术的日益进步,机器人技术逐渐被广泛应用工业生产的各个方面。其中并联机器人由于具有刚度大,惯性小,精度高等诸多优点,成为世界各国研究的焦点。其研究成果被应用于航天、精密机械制造、医疗与生物工程等诸多领域。本课题针对工业五轴加工生产任务的需要,提出了一种含有适应性驱动支链的六自由度并联机构。对其进行了运动学分析,通过闭环方程得出了位置的逆解,之后通过运动约束方程求出了机构的速度雅可比矩阵。进行了对该机构的灵巧度、动平台倾转能力、工作空间、静刚度、动态特性的性能分析。之后通过运用微分法对机构输出误差建模,进行了该机构的精度分析。最后通过对该机构的基座构型、驱动杆长与截面面积进行优化,大大的提高了机构的运动性能、结构刚度与动态特性。从而在减少奇异位形,提高动平台倾转能力的同时,使机床具有了较大的工作空间和较高的精度、刚度与动态特性。经过性能分析与优化研究,机床具有了较好的运动性能、力学性能与动态特性,具备大倾角转动能力,能够完成复杂的五面体加工任务。
[Abstract]:With the development of science and technology, robot technology has been widely used in all aspects of industrial production, in which parallel robot has many advantages, such as high stiffness, small inertia, high precision and so on. It has been used in many fields such as spaceflight, precision mechanical manufacturing, medical treatment and bioengineering. In order to meet the needs of industrial five-axis processing task, a 6-DOF parallel mechanism with adaptive driving branching chain is proposed in this paper. The kinematics analysis is carried out, and the inverse solution of position is obtained by closed-loop equation. Then the velocity Jacobian matrix of the mechanism is obtained by the motion constraint equation. The dexterity of the mechanism, the tilting ability of the moving platform, the workspace and the static stiffness of the mechanism are carried out. Performance analysis of the dynamic characteristics. Then through the differential method to model the output error of the mechanism, the accuracy of the mechanism is analyzed. Finally, the structure of the base, the length of the driving rod and the cross-section area are optimized. It greatly improves the kinematic performance, structural stiffness and dynamic characteristics of the mechanism, thus reducing the singular configuration, improving the tilting ability of the moving platform, and making the machine have a larger workspace and higher accuracy. Stiffness and dynamic characteristics. Through performance analysis and optimization research, the machine has better kinematic performance, mechanical properties and dynamic characteristics, has the ability to rotate large inclination angle, and can complete complex pentahedron processing task.
【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】：2011
【分类号】：TH112;TP242

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