基于Bennett机构的空间大尺度可展网络的组装与分析

发布时间：2018-06-13 04:13

本文选题：机构综合 + 剪叉式Bennett机构　；参考：《哈尔滨工业大学》2011年硕士论文

【摘要】：论文是以一种空间过约束机构——Bennett机构为研究对象,通过不同的组装方式来构造多种空间大尺度可展网络,以满足其在航空航天、土木工程以及玩具工业等相关领域的特殊需求。考虑到含单自由度运动副机构尤其是只含有转动副的机构相比其它机构的可靠性和稳定性更高,因此论文对含有单自由度副即转动副、移动副和螺旋副的运动链进行机构综合。以螺旋理论为基础,通过李群的概念来描述机构的运动,对运动链的自由度以及可行性运动进行机构综合,并且完成机构综合列表。论文的主体部分是确定以含有最少转动副的单闭环机构--Bennett机构为基本单元进行大尺度可展机构或者网络的组装。首先在Bennett机构的基础上进行创新性设计得到剪叉式Bennett机构,然后论文以剪叉式Bennett机构为基本单元完成了平面可展网络的组装,接着分别用Bennett机构和剪叉式Bennett机构为基本单元构建了不同的基本模块,继而通过基本模块完成了不同空间可展机构或者网络的组装。然后通过D-H参数法对Bennett机构进行了运动学分析,以此为基础完成了对平面可展网络和基于单自由度模块的可展网络的运动学分析,并通过ADMAS仿真软件进行运动学仿真。最后对空间大尺度可展网络的刚化锁定进行研究。在约束条件一定的前提下,对刚化绳索布置方式进行了研究,利用APDL语言对刚化后的结构建立相应的等效模型并进行参数优化以及模态分析。
[Abstract]:In this paper, a kind of space over-constrained mechanism, Bennett mechanism, is used to construct a variety of large scale deployable networks in order to meet the requirements of aerospace applications. Special needs in related fields such as civil engineering and toy industry. Considering that the mechanism with single degree of freedom, especially the mechanism with only rotating pair, is more reliable and stable than other mechanisms, this paper synthesizes the kinematic chain with single degree of freedom, that is, rotating pair, moving pair and spiral pair. Based on the helical theory, the motion of the mechanism is described by the concept of Li Qun, the degree of freedom of the kinematic chain and the feasible motion are synthesized, and the comprehensive list of the mechanism is completed. The main part of this paper is to determine the large scale deployable mechanism or network assembly based on the single closed loop mechanism with the least rotating pair, Bennett mechanism as the basic unit. Firstly, the shear fork Bennett mechanism is designed on the basis of the Bennett mechanism, and then the planar developable network is assembled with the shear Bennett mechanism as the basic element. Then different basic modules are constructed by using Bennett mechanism and shear-fork Bennett mechanism respectively, and then different spatial deployable mechanisms or networks are assembled by basic modules. Then the kinematics analysis of Bennett mechanism is carried out by D-H parameter method. Based on this, the kinematics analysis of planar deployable network and developable network based on single degree of freedom module is completed, and the kinematics simulation is carried out by ADMAS simulation software. Finally, the rigid locking of large scale developable space network is studied. On the premise of certain constraint conditions, the arrangement of stiffened rope is studied. The equivalent model of the stiffened structure is established by using APDL language, and the parameter optimization and modal analysis are carried out.
【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】：2011
【分类号】：TH112

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