类Diamond机构运动学设计

发布时间：2018-05-14 05:31

本文选题：并联机构 + 刚体动力学　；参考：《天津大学》2012年硕士论文

【摘要】：本文以类Diamond机构为研究对象,逐步开展逆运动学分析、刚体动力学分析、尺度综合、虚拟样机设计与模态预估等研究。论文取得以下成果: □利用闭环矢量法构造了类Diamond机构的逆运动学分析模型,在此基础上推导出该机构的速度雅可比矩阵,进而基于速度雅可比矩阵对该机构实施了奇异性分析,并借助算例验证了逆运动学分析的有效性。 □以逆运动学分析为基础,利用虚功原理建立了类Diamond机构的动力学模型,并由此推导出该机构的单轴最大驱动力矩的显示表达,为动力学尺度综合奠定了理论基础。 □由于可以利用类Diamond机构的尺度和惯性参数并结合机构所属位形显示表达该机构的单轴最大驱动力矩,且该单轴最大驱动力矩包含了该机构完整的奇异性信息,故以其作为该机构的动力学性能评价指标,通过对机构的速度、精度和刚度实施分析,得出一组以速度雅可比矩阵最大、最小奇异值为基础的性能约束条件,并在该条件约束下对机构实施单调性分析,优化出一组使类Diamond机构全域动力学性能最优的尺度参数,为后续虚拟样机设计与模态预估奠定了基础。 □以动力学尺度综合为基础,并结合工程实践经验,借助商用三维实体造型软件设计类Diamond机构的虚拟样机,并利用商用有限元分析软件预估该机构在不同位形时的模态特性,进而提出该机构的结构优化方法。
[Abstract]:In this paper, the inverse kinematics analysis, rigid body dynamics analysis, scale synthesis, virtual prototype design and modal prediction are carried out step by step. The results of the thesis are as follows: The inverse kinematics analysis model of the Diamond like mechanism is constructed by using the closed loop vector method, and the velocity Jacobian matrix of the mechanism is derived, and then the singularity analysis of the mechanism is carried out based on the velocity Jacobian matrix. The effectiveness of inverse kinematics analysis is verified by an example. Based on the inverse kinematics analysis, the dynamic model of the Diamond like mechanism is established by using the virtual work principle, and the display expression of the single axis maximum driving moment of the mechanism is deduced, which lays a theoretical foundation for the dynamic scale synthesis. -because the maximum driving torque of the mechanism can be expressed by using the scale and inertia parameters of the Diamond like mechanism and combined with the display of the configuration of the mechanism, and the single axis maximum driving moment contains the complete singularity information of the mechanism, Therefore, by analyzing the velocity, precision and stiffness of the mechanism, a set of performance constraints based on the maximum and minimum singular value of the velocity Jacobian matrix are obtained. Under the constraint of this condition, the monotonicity analysis of the mechanism is carried out, and a set of scale parameters are optimized to optimize the global dynamic performance of the Diamond like mechanism, which lays a foundation for the subsequent virtual prototype design and modal prediction. Based on dynamic scale synthesis and engineering experience, the virtual prototype of Diamond mechanism is designed by commercial 3D solid modeling software, and the modal characteristics of the mechanism in different configurations are estimated by commercial finite element analysis software. Furthermore, the structure optimization method of the mechanism is proposed.
【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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