实现挖掘轨迹的混合驱动4R1P机构研究

发布时间：2018-06-17 05:49

本文选题：混合驱动机构 + 运动学分析　；参考：《中北大学》2011年硕士论文

【摘要】：混合驱动机构作为一种新生机构,是目前机构学研究领域的前沿问题。它主要是通过一个二自由度的机构将常速电动机(主电机)和伺服电动机(辅助电机)这两种不同性质的运动合成后实现预定的输出运动。该机构诞生之根本是为了化解机构高速、重载、低成本与运动柔性化、可控化之间的矛盾。本文在前人研究成果的基础上,以导杆为机架的4R1P机构为对象,围绕机构的Grashof属性、工作空间、运动学和优化综合等方面展开研究: 首先,根据四杆机构装配条件和4R1P机构的结构特点,确定出滑块的活动范围;利用Grashof法则,讨论滑块处于不同位置时机构的Grashof属性;并在此基础上,总结得出机构存在曲柄的情况。同时,根据机构的不同Grashof属性,并借鉴四杆机构计算输入杆转角范围的方法,得出确定4R1P机构输入杆转角范围的方法和流程。然后通过叠加输入杆和输入滑块两驱动运动,绘制输出运动轨迹,来研究机构的工作空间问题。接着,建立4R1P机构运动学分析模型,获得构件的位置、速度、加速度表达式,通过运动学仿真实例,直观获取机构运动学参数变化情况,并为最后的优化综合提供基础。最后,在完成挖掘过程仿真,获得挖掘轨迹之后,以实现挖掘轨迹为任务,建立基于逆运动学分析的优化综合模型,获得混合驱动4R1P机构的结构尺寸和伺服输入规律,并以优化结果来建立机构模型进行运动仿真,验证机构模型的可行性。
[Abstract]:As a new kind of mechanism, hybrid drive mechanism is a frontier problem in the field of mechanism research. It mainly uses a two-degree-of-freedom mechanism to combine the motion of constant speed motor (main motor) and servo motor (auxiliary motor) to realize the predetermined output motion. The foundation of this mechanism is to resolve the contradiction between high speed, heavy load, low cost and flexible and controllable movement. In this paper, based on the previous research results, the 4R1P mechanism with guide rod as the frame is taken as the object, focusing on the Grashof attribute, workspace, kinematics and optimization synthesis of the mechanism. According to the assembling conditions of the four-bar mechanism and the structural characteristics of the 4R1P mechanism, the moving range of the slider is determined, the Grashof property of the mechanism when the slider is in different positions is discussed by using the Grashof rule, and on this basis, the existence of crank in the mechanism is summarized. At the same time, according to the different Grashof attributes of the mechanism and the method of calculating the angle range of the input bar of the four-bar mechanism, the method and flow chart of determining the angle range of the input rod of the 4R1P mechanism are obtained. Then, by superimposing the input bar and the input slider to drive the motion, the output motion trajectory is drawn to study the workspace problem of the mechanism. Then, the kinematics analysis model of 4R1P mechanism is established, and the expressions of position, velocity and acceleration of the component are obtained. Through kinematics simulation example, the kinematics parameter changes of the mechanism are intuitively obtained, and the foundation for the final optimization synthesis is provided. Finally, after the mining process simulation is completed and the mining track is obtained, the optimization synthesis model based on inverse kinematics analysis is established to achieve the mining trajectory, and the structure size and servo input rule of the hybrid drive 4R1P mechanism are obtained. The mechanism model is established by the optimization results to verify the feasibility of the mechanism model.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH112

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