基于并联机构的驾车的设计与研究

发布时间：2018-02-09 17:30

本文关键词： 驾车并联机构运动学性能分析姿态工作空间动力学　出处：《燕山大学》2013年硕士论文　论文类型：学位论文

【摘要】：驾车是卫星完成总装、测试和试验的辅助机械，主要在AIT（Assembly，Integrationand Test）厂房使用，承担卫星的运输和装配任务，可以提高卫星的装配效率，降低卫星的制造成本。本文对驾车的结构进行了设计，并对驾车的运动学、性能指标、姿态工作空间、动力学和仿真进行了分析和研究。首先，对驾车进行了结构设计，确定了平移、升降、转动平台的基本尺寸及零部件型号，用SOLIDWORKS软件完成了驾车虚拟样机的设计。应用螺旋理论和影响系数法分析了驾车机构的位置、速度和加速度，建立了机构的运动学模型。其次，研究了驾车机构的灵巧度全域性能指标，承载能力全域性能指标，刚度全域性能指标，利用MATLAB软件编程绘制各性能指标的性能图谱。通过分析各性能指标图谱与机构尺寸参数之间的关系，得到了驾车综合性能指标最佳时尺寸参数的取值范围。再次，选取驾车转动平台的最大自转角和自转角为零时的平均翻转角作为目标函数，利用遗传算法对机构的尺寸参数进行优化，并分析了驾车的自转能力和翻转能力。最后，运用牛顿欧拉法建立了驾车机构的动力学模型，得到驾车在工作状况下输入驱动力的解析式，，用ADAMS软件仿真，将仿真结果与理论值进行比较，验证驾车机构的运动学、动力学分析的正确性。
[Abstract]:Driving is an auxiliary mechanism for satellite assembly, testing and testing. It is mainly used in the AITT Assembly Integration and Test plant to carry out satellite transportation and assembly tasks, which can improve the efficiency of satellite assembly. In this paper, the structure of driving is designed, and the kinematics, performance index, attitude workspace, dynamics and simulation of driving are analyzed and studied. First of all, the structure of driving is designed to determine the basic dimensions of the platform for translation, lifting, and turning, as well as the type of parts and components. The design of driving virtual prototype is accomplished by SOLIDWORKS software, the position, velocity and acceleration of driving mechanism are analyzed by spiral theory and influence coefficient method, and the kinematics model of the mechanism is established. Secondly, the global performance index of dexterity, the global performance index of load-carrying capacity, the global performance index of stiffness are studied. The performance chart of each performance index is drawn by using MATLAB software. By analyzing the relationship between each performance index spectrum and the size parameter of the mechanism, the range of the dimension parameter is obtained when the driving comprehensive performance index is the best. Thirdly, selecting the maximum rotation angle and the average turning angle of 00:00 as the objective function, using genetic algorithm to optimize the dimension parameters of the mechanism, and analyzing the rotation ability and turnover ability of driving. Finally, the dynamic model of driving mechanism is established by using Newton Euler method, and the analytical formula of driving force is obtained. The simulation results are compared with the theoretical value by ADAMS software, and the kinematics of the driving mechanism is verified. The correctness of dynamic analysis.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：V465;TH112

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