三对传力空间相交轴RCCR机构的力学分析

发布时间：2018-02-28 21:05

本文关键词： RCCR 静不定动静法柔性体力学仿真　出处：《郑州大学》2011年硕士论文　论文类型：学位论文

【摘要】：空间RCCR机构是一种较新型的联轴器结构,它能在输入轴和输出轴轴线夹角很大的情况下传递运动和动力。目前对该类型机构的研究还不是太深入,对于三对传力杆的RCCR机构各构件的受力情况还未进行分析。本文从课题组研究的需要出发,在课题组前期对单对传力杆的RCCR机构研究的基础上对三对传力杆的RCCR机构进行力学分析。本文从简单的力学模型开始,对三对传力杆空间相交轴RCCR机构做了静力分析,即在不考虑运动副的摩擦力和各构件的重力及惯性力的情况下求解了机构中各运动副的约束反力和约束力矩。在求解过程中利用输入轴和输出轴之间的转角差找到了各传力杆之间的变形协调关系,从而使该机构的力学静不定问题得到解决。理论计算表明,三对传力杆的RCCR机构各构件的受力情况要比单对传力杆的情况改善很多,且该机构已不存在死点位置,输出轴的转向也具有确定性。之后又分析了机构的各个主要结构参数对机构中各运动副的约束反力和约束力矩的影响。用SolidWorks建立了该机构的刚体模型,然后将各构件的模型导入ADAMS中。建立各传力杆的柔性体模型,利用柔性体替换刚性体的方法建立该机构的刚体—柔体混合模型。为了解决柔性体传力杆的外连点与相应圆柱副约束反力的作用点不是始终重合的矛盾,建立了20个该机构在不同输入轴转角位置时的刚体—柔体混合模型。对机构进行静力学仿真,结果表明理论分析与仿真结果非常吻合。利用输入轴与输出轴的转角差求出了输出轴的角速度和角加速度,理论上证明了输出轴的角速度存在波动、输出轴的角加速度不为零。在此基础上,求出了各传力杆的速度、加速度和惯性力。然后运用动静法对该机构进行了动力学分析。对机构进行动力学仿真,结果表明,仿真结果与理论分析基本上是一致的。
[Abstract]:The spatial RCCR mechanism is a new type of coupling structure, which can transfer motion and force when the angle between the input axis and output axis is very large. At present, the research on this type of mechanism is not too deep. The stress of RCCR mechanism with three pairs of force transfer rods has not been analyzed. On the basis of the research of RCCR mechanism of single pair of force transfer rods in the early stage of the research group, the mechanical analysis of RCCR mechanism of three pairs of force transfer rods is carried out. In this paper, starting with a simple mechanical model, the static analysis of three pairs of force transfer bar spatial intersecting axis RCCR mechanism is done. That is, without considering the friction force of the motion pair and the gravity and inertia force of each component, the constrained reaction force and the constraint moment of the motion pair in the mechanism are solved. In the process of solving the problem, the angle difference between the input axis and the output shaft is used to find out the difference between the input axis and the output axis. When the deformation coordination relationship between the transmission rods is reached, The theoretical calculation shows that the mechanical static uncertainty of the RCCR mechanism with three pairs of force transfer rods is much better than that of the single pair, and that there is no dead point position in the mechanism. The steering of the output shaft is also deterministic, and the influence of the main structural parameters of the mechanism on the constrained reaction force and the constraint moment of the kinematic pair in the mechanism is analyzed. The rigid body model of the mechanism is established by using SolidWorks, and then the model of each component is introduced into ADAMS, and the flexible body model of each force transfer rod is established. The rigid-flexible body hybrid model of the mechanism is established by replacing the rigid body with the flexible body. In order to solve the contradiction that the external connection point of the force transfer rod of the flexible body does not always coincide with the action point of the constrained reaction force of the corresponding cylindrical pair, A hybrid rigid-flexible body model of 20 mechanisms with different input shaft rotation angles is established. Static simulation of the mechanism shows that the theoretical analysis is in good agreement with the simulation results. The angular velocity and angular acceleration of the output shaft are calculated by using the angular difference between the input shaft and the output shaft. It is proved theoretically that the angular velocity of the output shaft is fluctuating, and the angular acceleration of the output shaft is not zero. Acceleration and inertial force. Then the dynamic analysis of the mechanism is carried out by using the static and static method. The dynamic simulation of the mechanism shows that the simulation results are basically consistent with the theoretical analysis.
【学位授予单位】：郑州大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH112

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