新型大工作空间并联机构及其性能研究

发布时间：2018-06-07 10:03

本文选题：并联机构 + 雅可比矩阵　；参考：《南京理工大学》2012年硕士论文

【摘要】：为了并联机构顺利地应用于工作实际,设法使其向具有结构简单、工作空间大、控制容易等特点方向发展的相关研究越来越受到人们的关注本文用附加一个冗余滑动的方法构建一种新型三平动大工作空间并联机构。并开展构型优化、位置解析、奇异性、承载能力特性、刚度建模等相关研究。首先根据该型机构的组成和结构特点,利用矢量法建立机构的位置正解和反解方程以及速度雅可比矩阵,利用速度雅可比对机构的奇异性进行分析。其次在考虑伸缩杆伸缩范围、球铰链转角限制及杆件干涉等约束时,搜索出机构可达工作空间边界。并以工作空间体积为评价指标,分析机构基本参数对工作空间的影响,找出影响工作空间的敏感因素,对实现机构大工作空间进行详细论述。接着应用机构学理论求出机构的力雅可比矩阵,定义承载能力性能指标,描绘该指标在工作空间内的分布情况,分析机构的力承载能力特性,为机构应用提供指导。结合机构的雅可比矩阵,建立机构的整体刚度与单伸缩杆刚度模型。求得各向刚度在工作空间的分布情况。提出面平均刚度总体性能评价指标,并分析机构的结构参数对刚度的影响情况。为提高并联机构的性能,进行结构的改进提供理论依据。
[Abstract]:In order to apply the parallel mechanism smoothly to the work practice, people pay more and more attention to the development of parallel mechanism in the direction of simple structure, large workspace and easy control. In this paper, a new tri-translational large workspace parallel mechanism is constructed by adding a redundant sliding mechanism. Research on configuration optimization, position analysis, singularity, bearing capacity, stiffness modeling and so on is carried out. Firstly, according to the composition and structural characteristics of the mechanism, the forward and inverse solution equations and the velocity Jacobian matrix of the mechanism are established by using the vector method, and the singularity of the mechanism is analyzed by using the velocity Jacobian. Secondly, when considering the extension range of telescopic rod, the restriction of spherical hinge angle and the interference of rod, the boundary of reachable workspace of the mechanism is obtained. Taking the workspace volume as the evaluation index, this paper analyzes the influence of the basic parameters of the mechanism on the workspace, finds out the sensitive factors affecting the workspace, and discusses in detail the realization of the large workspace of the mechanism. Then the force Jacobian matrix of the mechanism is obtained by applying the theory of mechanism, the performance index of bearing capacity is defined, the distribution of the index in the workspace is described, and the characteristics of the force bearing capacity of the mechanism are analyzed, which provides guidance for the application of the mechanism. Combined with Jacobian matrix of the mechanism, the global stiffness and the stiffness model of the single telescopic bar are established. The distribution of stiffness in workspace is obtained. The overall performance evaluation index of average surface stiffness is presented, and the influence of structure parameters on stiffness is analyzed. It provides theoretical basis for improving the performance of parallel mechanism and improving the structure.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

【引证文献】