一种新型3-RPC并联微动机构的设计与分析

发布时间：2018-06-02 15:43

本文选题：3-RPC + 微动机构　；参考：《燕山大学》2012年硕士论文

【摘要】：随着科技的发展，实现微/纳米操作的微动机构正受到人们的日益关注，并将具有广阔的应用前景和巨大的发展潜力，为此设计满足特定要求的新型并联微动机构就显得尤为重要。本文在3-RPC并联机构的基础上设计分析了一种新型的由压电陶瓷驱动的微动机构。具体内容如下：选取具有3个移动自由度的3-RPC并联机构作为样机。根据用柔性运动副代替刚性机构的传统运动副来实现微小运动这一思想，首先选取了构成3-RPC并联微动机构的基本元素——柔性转动副和柔性移动副，然后结合3-RPC并联机构的不同的空间几何结构，选择了空间正交型初始模型，在初始模型的基础上通过优化和仿真给出了3-RPC的最终模型。作为研究3-RPC并联微动机构的基础，推导出了该微动机构的运动学正、反解。利用齐次变换法，经过抽象简化，得出了3-RPC并联微动机构的运动学反解，接着，推导出运动正解。正、反解结果为其动力学分析奠定基础。刚度模型对微动机构至关重要，因为刚度模型是微动机构静力学、模态分析和动力学分析的基础。采用了一种简易的柔度矩阵变换的方法，对3-RPC并联微动机构进行了刚度分析，并结合有限元分析软件对刚度矩阵进行了验证。考虑结构参数对刚度的影响，利用MATLAB软件绘制了结构参数与刚度之间关系图，为优化设计该微动机构奠定基础。基于拉格朗日动力学方程，对3-RPC并联微动机构的动力学性能进行了分析，在动力学分析的基础上进行了模态分析，得出了机构的自然频率，对微动机构的控制系统的选择有一定的指导意义。基于压电陶瓷驱动器的工作原理，根据输入电压和输入力或输出位移的关系，，对3-RPC并联微动机构的控制系统进行了初步设计。
[Abstract]:With the development of science and technology, the micro / nano operation mechanism is getting more and more attention, and it will have a wide application prospect and great development potential. Therefore, it is very important to design a new type of parallel fretting mechanism to meet the specific requirements. Based on the 3-RPC parallel mechanism, a novel micro mechanism driven by piezoelectric ceramics is designed and analyzed in this paper. The details are as follows: The 3-RPC parallel mechanism with three moving degrees of freedom is selected as the prototype. According to the idea of using flexible motion pair instead of traditional motion pair of rigid mechanism to realize small motion, the basic elements of 3-RPC parallel micro-motion mechanism, flexible rotation pair and flexible moving pair, are first selected. Then combined with the different spatial geometry structure of 3-RPC parallel mechanism, the initial model of spatial orthogonal type is selected, and the final model of 3-RPC is given through optimization and simulation on the basis of the initial model. As the basis of studying the 3-RPC parallel micro mechanism, the kinematics forward and inverse solutions of the micro mechanism are derived. By using homogeneous transformation method and abstract simplification, the inverse kinematics solution of 3-RPC parallel micro-mechanism is obtained, and then the positive kinematic solution is derived. The results of positive and inverse solutions lay the foundation for its dynamic analysis. Stiffness model is very important for fretting mechanism, because stiffness model is the basis of statics, modal analysis and dynamic analysis of fretting mechanism. A simple flexibility matrix transformation method is used to analyze the stiffness of the 3-RPC parallel fretting mechanism, and the stiffness matrix is verified with the finite element analysis software. Considering the influence of structural parameters on stiffness, the relationship between structural parameters and stiffness was drawn by using MATLAB software, which laid a foundation for the optimal design of the fretting mechanism. Based on Lagrange's dynamic equation, the dynamic performance of 3-RPC parallel micro-mechanism is analyzed. The modal analysis is carried out on the basis of dynamic analysis, and the natural frequency of the mechanism is obtained. It has certain guiding significance for the choice of control system of fretting mechanism. Based on the working principle of piezoelectric actuator and the relationship between input voltage and input force or output displacement, the control system of 3-RPC parallel microactuator is designed.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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