3-（2SPS）三平移并联机构静平衡研究

发布时间：2018-02-26 15:06

本文关键词： 并联机构运动学工作空间比例缩放仪静力平衡仿真　出处：《南京理工大学》2011年硕士论文　论文类型：学位论文

【摘要】：本文以新构型3-(2SPS)并联机构为分析平台,进行静力平衡方案的研究。首先,建立3-(2SPS)机构的数学模型,分析其与3-UPU机构在运动学上的内在关系,并求解3-(2SPS)机构位置的正反解。然后利用几何法计算机构工作空间在竖直方向与水平方向上的极限值,并通过数值仿真来分析机构相关设计尺寸对工作空间的影响以及是否存在空洞现象。接着,以3-UPU机构等效代替3-(2SPS)机构来建立机构的静力学模型,并分析驱动力在工作空间几个横截面上的变化状况。随后,提出几个基于比例缩放仪运动原理的力平衡方案并讨论其各自的优缺点和应用场合。最后运用虚拟样机技术分析力平衡方案的平衡效果及在不同工作载荷情况下平衡装置平衡水平的变化状态,以及运动链中的伸缩杆与套筒对各驱动力大小的影响。经过对上述内容的研究分析得出相关结论,为多用途的带有平衡装置的3-(2SPS)机构样机优化设计提供具有参考价值的理论依据。
[Abstract]:In this paper, the static balancing scheme is studied on the basis of the new configuration 3-2 SPS) parallel mechanism. First of all, the mathematical model of 3-U2SPS) mechanism is established, the kinematics relationship between 3-UPU mechanism and 3-UPU mechanism is analyzed, and the forward and inverse solutions of the position of 3-UPU mechanism are solved. Then the geometric method is used to calculate the limit value of the working space of the mechanism in vertical and horizontal direction. Numerical simulation is used to analyze the influence of the design size of the mechanism on the workspace and the existence of voids. Then, the statics model of the mechanism is established by replacing the 3-UPU mechanism with the 3-PU mechanism. The change of driving force in several cross sections of workspace is analyzed. Then, This paper presents several force balancing schemes based on the principle of proportional scaling instrument and discusses their respective advantages and disadvantages and applications. Finally, virtual prototyping technology is used to analyze the balance effect of the force balancing scheme and under different working loads. The varying state of the balance level of the balancing device, And the effect of the telescopic rod and sleeve on the driving force in the motion chain. Through the research and analysis of the above contents, the relevant conclusions are obtained, which provides a theoretical basis for the optimization design of the multi-purpose 3-F-2 SPSs mechanism with a balancing device.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH112

【引证文献】