一种四自由度混联机构的设计方法研究

发布时间：2018-02-28 21:25

本文关键词： 混联构型装备概念设计运动学分析刚体动力学伺服电机预估尺度综合　出处：《天津大学》2012年硕士论文　论文类型：学位论文

【摘要】：面向国家航空、汽车制造业重大需求,本文系统研究了一种新型4自由度可重构混联机构的概念设计、正/逆运动学、刚体动力学、伺服电机参数预估及尺度综合等问题,以期指导样机的开发。论文取得研究成果如下: 1.提出了一种由2-PRRRP并联机构与2自由度转头串接构成的新型4自由度混联机构Licept。借助长行程导轨单元/腰关节单元实现了多种5坐标混联构型装备的概念设计,上述装备继承Licept机构作业能力的同时,可获得更大的工作空间。 2.利用解析法建立了2-PRRRP机构的正、逆运动学模型,通过算例仿真验证了运动学模型的正确性。 3.基于运动学分析,研究了机构运动构件质心的运动规律,借助虚功原理建立了2-PRRRP机构的精确逆刚体动力学模型。 4.借助Cauchy-Schwarz不等式及矩阵特征值建立了2-PRRRP机构驱动关节伺服电机参数预估模型,且通过动平台参考点典型运动轨迹及运动规律的仿真,验证了所建模型的有效性。 5.基于2-PRRRP机构工作空间分析,确定了机构尺度综合时所需的独立尺度参数。借助逆刚体动力学模型,构建了一种基于动力学性能的全域评价指标,辅以工程约束及性能约束,借助参数单调性分析方法,将该类机构的动力学尺度综合问题转化为一种有约束的非线性规划问题,实现了2-PRRRP机构尺度参数的优选。
[Abstract]:In order to meet the great demand of the national aviation and automobile manufacturing industry, this paper systematically studies the conceptual design, forward / inverse kinematics, rigid body dynamics, parameter estimation and scale synthesis of a new kind of 4-DOF reconfigurable hybrid mechanism. The research results are as follows:. 1. A new 4-DOF hybrid mechanism, license, which is composed of 2-PRRRP parallel mechanism and 2-DOF rotary joint, is proposed. The concept design of various 5-coordinate hybrid configuration equipment is realized with the aid of long-stroke guide rail unit / waist joint unit. At the same time, the above equipment inherits the operating capability of Licept mechanism, and can obtain a larger workspace at the same time. 2. The forward and inverse kinematics models of 2-PRRRP mechanism are established by the analytical method. The correctness of the kinematics model is verified by an example. 3. Based on the kinematics analysis, the motion law of the mass center of the mechanism is studied, and the exact inverse rigid body dynamics model of 2-PRRRP mechanism is established by virtue of the virtual work principle. 4. Based on the Cauchy-Schwarz inequality and matrix eigenvalue, the parameter prediction model of 2-PRRRP mechanism driven joint servo motor is established. The simulation of the typical motion trajectory and motion law of the reference point of the moving platform verifies the validity of the model. 5. Based on the workspace analysis of 2-PRRRP mechanism, the independent scale parameters are determined. With the aid of the inverse rigid body dynamics model, a global evaluation index based on dynamic performance is constructed, which is supplemented by engineering constraints and performance constraints. By means of parametric monotonicity analysis, the dynamic scale synthesis problem of this kind of mechanism is transformed into a constrained nonlinear programming problem, and the optimization of 2-PRRRP mechanism scale parameters is realized.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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