复杂曲面切割变胞机构设计及其动态特性研究

发布时间：2018-03-12 19:27

本文选题：复杂曲面切割机　切入点：变胞机构　出处：《哈尔滨工程大学》2012年硕士论文　论文类型：学位论文

【摘要】：我国在造船技术和装备制造方面与国外有很大的差距，尤其在大型空间复杂曲面切割这一舰船制造的关键技术方面，它制约并影响了我国造船技术水平的提高和发展。因此，如何解决大型空间复杂曲面大开口、变姿态、变轨迹的切割问题，对于提高我国舰船制造业的技术水平具有重要学术意义和应用价值。本文在对国内外切割装备综合分析的基础上，对大型空间复杂曲面切割机进行了原理结构设计，并对水平旋转机构、垂直升降机构以及径向调整机构等进行了详细的结构选型和设计。以实现割枪变姿态、变轨迹切割为目的，对曲面切割机割枪摆动机构进行构型设计与分析，完成了变胞切割机构的原理结构设计。在对切割机摆动机构变胞特性分析的基础上，利用基因建模理论建立变胞机构各个工作构态的基因模型，并对其进行构型进化设计得出变胞机构源构态构型。运用图论和邻接矩阵法进行变胞机构构型综合分析，推导出变胞切割机构的变胞方程和变胞矩阵，从矩阵的角度直观地描述了构态之间的转换。在使用旋量方法表示空间刚体运动的基础上，建立复杂曲面切割机串并联机构的运动学指数积公式的完整表示形式，并在MATLAB中完成运动学方程的数值计算。利用ADAMS对曲面切割机串并联机构进行运动仿真验证，仿真结果说明了旋量方法在空间串并联机构运动学分析中的实用性。将关节的4个D-H参数误差等效为轴线误差旋量，建立各个关节轴线含有误差旋量的旋量坐标，，推导出了含有误差旋量的串并联机构运动学指数积公式，得出了末端工具坐标系的位姿误差模型。按照上述误差分析方法，用MATLAB对复杂曲面切割机构进行运动误差数值计算，并将计算结果和ADAMS仿真结果进行对比，说明了旋量方法在串并联机构误差分析中的正确性。将变胞运动副作为变胞机构的闭链切断铰，通过引入切断铰的约束方程建立了曲面切割机变胞机构的全构态Kane动力学方程。分析了曲面切割机变胞机构构态切换时的运动冲击问题，从控制主动件运动规律的角度提出了减小冲击的方法，通过ADAMS仿真验证了该方法的有效性，为以后深入研究曲面切割机变胞机构提供理论基础。
[Abstract]:There is a big gap between China and foreign countries in shipbuilding technology and equipment manufacturing, especially in the key technology of large space complex curved surface cutting, which restricts and affects the improvement and development of shipbuilding technology in China. How to solve the problem of cutting large opening, changing attitude and changing trajectory of large space complex curved surface is of great academic significance and application value to improve the technical level of our shipbuilding industry. Based on the comprehensive analysis of cutting equipment at home and abroad, this paper designs the principle and structure of large space complex curved surface cutting machine, and makes a horizontal rotation mechanism. The vertical lifting mechanism and radial adjusting mechanism are selected and designed in detail. In order to change the attitude and track of the cutting gun, the configuration design and analysis of the swing mechanism of the cutting gun of the curved cutting machine are carried out. The principle and structure design of the variable cell cutting mechanism is completed. Based on the analysis of the characteristics of the swing mechanism of the cutting machine, the gene model of each working structure of the mechanism is established by using the gene modeling theory. The configuration of metamorphic mechanism was analyzed by graph theory and adjacency matrix method, and the metamorphic equation and matrix of metamorphic mechanism were derived. The transformation between structures is described intuitively from the point of view of matrix. On the basis of using spinor method to express the motion of spatial rigid body, the complete expression of kinematics exponent product formula of series-parallel mechanism of complex curved cutting machine is established. The kinematics equation is calculated in MATLAB. The kinematics simulation of the series-parallel mechanism of curved cutting machine by ADAMS is carried out. The simulation results show the practicability of spinor method in kinematics analysis of spatial series-parallel mechanism. The four D-H parameter errors of the joint are equivalent to the axis error spinor, and the coordinate of each joint axis with error spinor is established, and the kinematic exponential product formula of series-parallel mechanism with error spinning quantity is derived. The pose error model of the terminal tool coordinate system is obtained. According to the above error analysis method, the kinematic error numerical calculation of the complex curved surface cutting mechanism is carried out by using MATLAB, and the results are compared with the ADAMS simulation results. The correctness of spinor method in the error analysis of series-parallel mechanism is explained. The metamorphic motion pair is used as the closed chain cutting hinge of metamorphic mechanism. By introducing the constraint equation of cutting hinge, the Kane dynamic equation of the metamorphic mechanism of curved surface cutter is established. From the point of view of controlling the motion law of the active parts, a method to reduce the impact is proposed. The effectiveness of the method is verified by ADAMS simulation, which provides a theoretical basis for the further study of the variable cell mechanism of the curved surface cutter.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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