空间曲柄—摆杆机构的力学特性分析

发布时间：2018-06-21 16:27

本文选题：空间曲柄-摆杆机构 + 旋转-摆动　；参考：《郑州大学》2011年硕士论文

【摘要】：迄今为止,人们对空间RCCR以及RCRCR机构的研究均集中在输入、输出端偏距相等的形态,由于其具有良好的等速传递性,研究人员将其命名为空间双曲柄机构。而对于输入、输出端偏距不等的形态,研究现状只停留在机构具有旋转—摆动输入输出关系的认识。由于机构还具有以下优点：机构简单、构件数目少并且以低副连接、耐磨损性好、构件形状简单便于制造装配,且在不考虑装配干涉情况下,轴间夹角能实现(0°,180°)范围内的任意取值,因此本文将输入、输出端偏距不等的形态命名为空间曲柄—摆杆机构,旨在对其进行更为充分的理论研究,为推广应用提供可靠的佐证。本文采用理论分析和计算机仿真相结合的方法对理想无摩擦状态下的空间曲柄—摆杆机构进行了以下几个方面的研究： 1)空间曲柄—摆杆机构的运动学分析。采用平面投影法简化空间矢量闭合方程,得到各个构件的运动参数表达式。在SolidWorks环境中对三维模型进行运动学仿真,验证了机构的旋转—摆动输入输出关系,以及理论分析的正确性,并绘制出运动特性与机构主要结构参数之间的对应变化曲线。 2)空间曲柄—摆杆机构的动态静力分析。采用单个示力副法分别求解出空间曲柄—摆杆(Ⅰ型)和(Ⅱ型)机构各个运动副中的约束反力/力矩以及输入旋转驱动。在SolidWorks环境中分别建立纯刚体系统和使用柔性连接的动力学仿真模型,比较分析两种模型下的仿真结果,并绘制出主要力学参数与机构结构参数之间的对应变化曲线。 3)两种类型空间曲柄—摆杆机构的比较。根据对两种类型机构的自由度计算、运动学分析以及动态静力分析,总结归纳二者的异同。 4)空间曲柄—摆杆机构的总质心轨迹分析。利用坐标变换方式得到机构总质心轨迹各个分量表达式并绘制出三维曲线。并从仿真分析中提取出机构总质心轨迹,验证了理论分析的正确性。
[Abstract]:Up to now, the research on space RCCR and RCRCR mechanism is focused on the input and the output offset is equal. Because of its good isokinetic transitivity, the researchers call it the spatial double crank mechanism. However, for the input and output with unequal offset, the research status only stays on the understanding that the mechanism has a rotation-swing input-output relationship. The mechanism also has the following advantages: simple mechanism, small number of components, low pair connection, good wear resistance, simple component shape and easy assembly, and without considering assembly interference, The angle between shafts can achieve arbitrary values in the range of 0 掳or 180 掳). Therefore, this paper named the spatial crank-pendulum mechanism with different input and output offset, in order to study it more fully and to provide reliable evidence for its popularization and application. In this paper, the theoretical analysis and computer simulation are used to study the space crank-pendulum mechanism in the ideal frictionless condition: 1) the kinematic analysis of the spatial crank-pendulum mechanism. The space vector closure equation is simplified by plane projection method, and the expressions of motion parameters of each component are obtained. The kinematics simulation of the 3D model in SolidWorks environment verifies the rotation-swinging input-output relation of the mechanism and the correctness of the theoretical analysis. The corresponding curves between the motion characteristics and the main structural parameters of the mechanism are plotted. 2) the dynamic static analysis of the spatial crank-pendulum mechanism. A single force pair method is used to solve the constrained reaction force / torque and input rotation drive of the spatial crank-pendulum rod (type I) and the (type II) mechanism respectively. Dynamic simulation models of pure rigid body system and flexible connection are established in SolidWorks environment, and the simulation results of the two models are compared and analyzed. The corresponding curves between the main mechanical parameters and the structural parameters of the mechanism are plotted. 3) the comparison of the two types of spatial crank-pendulum mechanism is given. According to the degree of freedom calculation, kinematics analysis and dynamic static analysis of the two types of mechanisms, the similarities and differences between them are summarized. 4) the total centroid trajectory analysis of the spatial crank-pendulum mechanism. The expressions of each component of the mechanism's total centroid locus are obtained by coordinate transformation and the 3D curves are drawn. The track of the total centroid of the mechanism is extracted from the simulation analysis, which verifies the correctness of the theoretical analysis.
【学位授予单位】：郑州大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH112

【引证文献】