高速细长杆支撑并联机构稳定性分析及结构参数优化

发布时间：2018-03-29 00:30

本文选题：高速细长杆并联机构　切入点：稳定性模型构建　出处：《苏州大学》2012年硕士论文

【摘要】：由于并联机构具有稳定性好、无累计误差、位置调整灵活、运动精度高等特点，以致，在现代化生产过程中，如高速食品包装、分拣、物料分类等场合使用，其生产效率显著。但是，随着并联机构的速度和运动精度的提高，其对运动的稳定性问题的研究越来越重要。本课题主要针对高速细长杆支撑并联机构稳定性及结构参数优化等问题开展研究。研究主要内容和创新点如下： (1)首先通过对并联机构国内外研究现状的分析研究，确立了本课题的主要研究内容是：构建细长杆支撑并联机构的稳定性计算模型以及并联机构运动型模型；通过对细长支撑件并联机构的灵巧度和刚度分析，对并联机构的结构进行参数优化；利用有限元分析软件对细长杆支撑并联机构进行仿真实验，验证该理论方法的可行性和可靠性。 (2)针对细长杆支撑并联机构稳定性问题，通过对杆结构稳定性理论的学习，结合本课题细长支撑件并联机构，分析了支撑杆的失稳类型、屈曲准则以及在ANSYS软件中屈曲分析的方法，构建出并联机构细长支撑件的稳定性计算模型。 (3)通过对高速细长杆支撑并联机构的工作原理的分析，设计出其具体参数，从而建立了并联机构的运动学模型。 (4)通过对高速细长支撑杆的灵巧度、刚度等参数的分析研究，构建了参数表达式，再对其进行线性优化分析，得出高速并联机构细长支撑杆的最优参数。 (5)通过建立高速并联机构力学模型，得到了动平台位置变化时，各支撑杆的受力变化。然后，在支撑杆的长短、粗细不同的情况下，运用ANSYS Workbench软件分别对高速并联机构细长支撑杆以及整体并联机构进行稳性分析，通过对比分析，，得出了失稳力的变化规律，从而可设计出稳定性最优的高速细长杆支撑并联机构。本课题主要创新点： (1)针对当今高速、高精度并联机构的发展应用，文章提出对高速细长杆支撑并联机构进行稳定性分析。通过研究分析支撑杆的失稳类型、屈曲准则以及在ANSYS软件中屈曲分析的方法，构建出高速细长支撑件的失稳计算模型。 (2)运用ANSYS Workbench软件分别对高速并联机构细长支撑杆以及整体并联机构进行稳定性分析，得出其失稳力的变化规律，可设计出稳定性较优的高速细长杆支撑并联机构。本课题通过对高速细长杆支撑并联机构稳定性分析及结构参数优化研究，不但构建了理论模型，而且对其进行了仿真实验，为该方法的实际应用奠定了理论与仿真基础。
[Abstract]:Because the parallel mechanism has the characteristics of good stability, no accumulative error, flexible position adjustment and high kinematic precision, it is used in modern production process, such as high speed food packaging, sorting, material classification and so on. However, with the increase of the speed and precision of the parallel mechanism, It is more and more important to study the stability of the motion. This paper mainly focuses on the stability and structural parameters optimization of the high speed slender rod-braced parallel mechanism. The main contents and innovations of the study are as follows:. Firstly, the main research contents of this thesis are as follows: the stability calculation model and the kinematic model of the slender rod supporting parallel mechanism are established by analyzing the current research situation of the parallel mechanism at home and abroad; By analyzing the dexterity and stiffness of the slender support parallel mechanism, the structure parameters of the parallel mechanism are optimized, and the simulation experiment of the slender rod supporting parallel mechanism is carried out by using the finite element analysis software. The feasibility and reliability of the method are verified. Aiming at the problem of the stability of the slender rod supporting parallel mechanism, through the study of the stability theory of the rod structure and the parallel mechanism of the slender support in this paper, the type of instability of the support rod is analyzed. The buckling criterion and the method of buckling analysis in ANSYS software are used to construct the stability calculation model of slender support of parallel mechanism. Based on the analysis of the working principle of the high-speed slender rod supported parallel mechanism, the specific parameters are designed and the kinematics model of the parallel mechanism is established. Through the analysis and study of the dexterity and stiffness of the high speed slender support rod, the parameter expression is constructed, and then the linear optimization analysis is carried out, and the optimum parameters of the slender support rod of the high speed parallel mechanism are obtained. 5) by establishing a mechanical model of high-speed parallel mechanism, the force changes of each supporting rod are obtained when the position of the moving platform changes. Then, in the case of different length and thickness of the supporting rod, ANSYS Workbench software is used to analyze the stability of the slender support rod and the whole parallel mechanism of high speed parallel mechanism respectively. Through the comparison and analysis, the variation law of the instability force is obtained. Thus, a high speed slender rod supporting parallel mechanism with optimal stability can be designed. The main innovation points of this subject are as follows:. 1) in view of the development and application of high-speed and high-precision parallel mechanism, this paper puts forward the stability analysis of high-speed slender rod supporting parallel mechanism. The buckling criterion and the method of buckling analysis in ANSYS software are used to construct the buckling calculation model of high speed slender support. 2) by using ANSYS Workbench software, the stability of the slender support rod and the whole parallel mechanism of the high-speed parallel mechanism are analyzed, and the changing law of the instability force is obtained, and the high speed slender rod supporting parallel mechanism with better stability can be designed. In this paper, the stability analysis and structural parameter optimization of high-speed slender rod supporting parallel mechanism are studied. Not only the theoretical model is constructed, but also the simulation experiment is carried out, which lays a theoretical and simulation foundation for the practical application of this method.
【学位授予单位】：苏州大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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