基于Stewart并联机构的高频试验台研究

发布时间：2018-06-21 07:33

本文选题：Stewart并联机构 + 高频试验台结构　；参考：《哈尔滨工业大学》2012年硕士论文

【摘要】：Stewart并联机构由于其刚度大、承载能力强、精度高等优点在现代工业中得到广泛应用，液压驱动的Stewart并联机构与串联机构相比优势很多，但频率较低，限制了其在有高频需求的行业中的应用。本文研究的高频试验台结构能够克服Stewart并联机构频率低的缺点，使试验台能够达到较高的频率，满足某些系统的高频要求。本文首先介绍了高频试验台的结构进行，了解其结构特点，，确定机构参数。在机构分析的基础上进行运动学分析，求解液压缸的位置反解和正解、速度和加速度，得到了上平台的广义速度与液压缸速度之间的Jacobian矩阵，为进行动力学分析打下了基础。本文采用简洁高效的Kane方法建立动力学模型。首先根据构件之间的运动关系求得了各个运动构件的Jacobian矩阵，然后得到了运动构件的速度对于广义速度的偏速度和偏角速度，这是求解Kane方程的基础。然后得出主动力和惯性力在广义速度方向上的广义主动力和广义惯性力，最后根据Kane方程得出多体系统动力学方程。编写了M程序进行多刚体系统动力学的运算。在ADAMS仿真软件中建立机构的参数化模型，进行运动学和动力学的仿真，并与理论分析的结果进行对比，验证了模型和理论分析的可靠性。最后对机构的工作空间和奇异性进行分析，得到了定姿态位置空间和定位置姿态空间，为机构的设计提供了基础。同时也对刚度和固有频率进行了分析，更进一步的了解了结构的性能。
[Abstract]:Stewart parallel mechanism has been widely used in modern industry because of its large stiffness, strong bearing capacity and high precision. The hydraulic driven Stewart parallel mechanism has many advantages over series mechanism, but its frequency is low. It limits its application in industries with high frequency demand. The structure of the high frequency test-bed studied in this paper can overcome the shortcoming of low frequency of Stewart parallel mechanism, make the test bed achieve higher frequency and meet the high frequency requirement of some systems. In this paper, the structure of the high-frequency test rig is introduced, and the structure characteristics are understood, and the mechanism parameters are determined. The kinematics analysis is carried out on the basis of mechanism analysis, and the position inverse solution and positive solution, velocity and acceleration of the hydraulic cylinder are solved, and the Jacobian matrix between the generalized velocity and the cylinder velocity of the upper platform is obtained, which lays the foundation for the dynamic analysis. In this paper, a simple and efficient Kane method is used to establish the kinetic model. Firstly, the Jacobian matrix of each moving component is obtained according to the motion relation between the components, and then the partial velocity and angular velocity of the moving component to the generalized velocity are obtained, which is the basis of solving the Kane equation. Then the generalized principal force and generalized inertial force in the direction of generalized velocity are obtained. Finally, the dynamic equation of multi-body system is obtained according to Kane equation. The M program is written to calculate the dynamics of multi rigid body system. The parameterized model of the mechanism was established in Adams simulation software, and the kinematics and dynamics were simulated. The reliability of the model and the theoretical analysis was verified by comparing the results with the results of theoretical analysis. Finally, the workspace and singularity of the mechanism are analyzed, and the fixed attitude space and the fixed position attitude space are obtained, which provides the basis for the design of the mechanism. At the same time, the stiffness and natural frequency are analyzed, and the performance of the structure is further understood.
【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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