单支链含闭环的三平动并联机构的综合与分析

发布时间：2018-05-17 12:55

本文选题：三平动并联机构 + 型综合　；参考：《哈尔滨工业大学》2012年硕士论文

【摘要】：并联机构与传统串联机构相比有刚度大，承载能力强，重复误差小，惯性小的优点。特别是具有相同且对称分支结构的三平动自由度并联机构具有更多的优点。另外，闭环结构具有摩擦小，加工简单，能增加机构刚度的优点。此外，随着高速、高精度要求的提出，关节间隙引起的机构末端误差不容忽视。因此，系统地对单支链中含有闭环的三平动并联机构进行综合和分析具有广泛而重大的意义。本文主要研究内容包括对含闭环的三平动并联机构的综合，并从中选择一种机构，确定其尺寸后，对其进行刚度分析及考虑关节间隙的机构末端位姿误差分析。主要研究内容包括如下：引入螺旋理论，对4种新型的闭环进行了自由度分析，并将其考虑进了三平动并联机构的型综合，得到了若干种新型的机构。并从中选择了一种，作为后续分析的对象。分析了机构的结构并得到了机构正反解及速度雅克比矩阵，在雅克比矩阵的条件数的基础上，对机构进行了尺度综合得到了机构的尺寸。计算了机构的全局雅克比矩阵并在此基础上得到了机构的刚度矩阵。在引入了CSV方法的基础上，分析了机构刚度在工作空间内中某一平面内的分布，并对结果进行分析，得出了一些有意义的结论。通过研究末端外载荷与关节受力、关节受力与关节位移、关节局部误差与末端误差之间的映射关系，最终得到了末端外载荷与末端位姿误差之间的映射关系，并给定结构尺寸计算了机构末端位姿误差在空间中的分布，并对结果进行了分析。
[Abstract]:Compared with the traditional series mechanism, the parallel mechanism has the advantages of large stiffness, strong bearing capacity, small repetition error and small inertia. Especially, the parallel mechanism with the same and symmetrical branches has more advantages. In addition, the closed-loop structure has the advantages of small friction, simple processing and can increase the stiffness of the mechanism. In addition, with the requirement of high speed and high precision, the end error caused by joint clearance can not be ignored. Therefore, it is of great significance to synthesize and analyze tri-parallel mechanism with closed loop in single branching chain systematically. The main research contents of this paper include the synthesis of the three-parallel mechanism with closed loop and the selection of a kind of mechanism. After determining the size of the mechanism, the stiffness analysis and the error analysis of the end position and pose of the mechanism considering the joint clearance are carried out. The main contents of the study are as follows: In this paper, the helical theory is introduced to analyze the degrees of freedom of four new closed-loop systems, which are taken into account in the synthesis of three parallel mechanisms, and some new types of mechanisms are obtained. And from the selection of one, as the object of subsequent analysis. The structure of the mechanism is analyzed and the forward and inverse solutions of the mechanism and the velocity Jacobian matrix are obtained. Based on the condition number of the Jacobian matrix, the dimensions of the mechanism are obtained by scale synthesis. The global Jacobian matrix of the mechanism is calculated and the stiffness matrix of the mechanism is obtained. Based on the introduction of CSV method, the distribution of mechanism stiffness in a certain plane in the workspace is analyzed, and the results are analyzed, and some meaningful conclusions are obtained. By studying the mapping relationship between the end external load and the joint force, the joint force and the joint displacement, the joint local error and the terminal error, the mapping relationship between the end external load and the terminal position error is obtained. The spatial distribution of the end position error of the mechanism is calculated and the results are analyzed.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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