平面形状可变刚体机构的综合与仿真

发布时间：2018-06-24 14:20

本文选题：形状可变机构 + 刚体导引　；参考：《北京邮电大学》2011年硕士论文

【摘要】：平面形状可变机构具有一定的自适应功能,能通过运动改变自身外形来增强执行能力和扩展运用范围,符合当今机械系统向高精度,多用途发展的趋势。形状可变机构由数个刚性片段、刚性杆件和旋转铰链组成,可以通过杆件导引各刚性片运动来逼近数条曲线,这些曲线定义了机构形变的过程。本文首先针对基于需求提出的形变曲线给予分析,给出处理曲线的两种算法。“形变曲线”被称为“设计轮廓”,实质是要设计的平面形状可变机构必须通过的预定轨迹。设计轮廓多为样条曲线,不利于机械设计,把设计轮廓近似划分各个线性线段连成的轮廓,被称作“目标轮廓”。目标轮廓依然是一条完整曲线,由它直接作为一个构件显然不能满足设计精度要求,必须分为多个分段。对数条目标轮廓的分段求取平均就得出“平均轮廓”,平均轮廓将作为构件进入机构综合阶段。其次,形状可变机构的构件形状与曲线有直接关系,在处理完形变曲线后,给出了一种综合多杆串联机构的方法,包括刚体连接和添加转动副。最后,本文根据所述设计原理,具体设计了形状可变机构的实例来验证设计原理的正确性,并在三维软件中对设计的形状可变机构进行建模和运动仿真,还对机构运动中的传动角进行适当的性能分析。
[Abstract]:The planar variable mechanism has a certain adaptive function, which can enhance the execution ability and expand the application range by changing its shape, which is in line with the development trend of high precision and multi-purpose of the mechanical system nowadays. The variable shape mechanism is composed of several rigid segments, rigid members and rotating hinges, which can be used to guide the motion of each rigid piece to approximate a number of curves. These curves define the deformation process of the mechanism. In this paper, the deformation curve based on requirement is analyzed, and two algorithms of processing curve are given. "deformation curve" is called "design contour". Most of the design contours are spline curves, which are not conducive to mechanical design. The design contour is roughly divided into the contours of each linear line segment, which is called "target contour". The contour of the target is still a complete curve, which can not meet the design precision requirement as a component directly, and must be divided into several segments. The "average contour" is obtained from the segmental averaging of the target contour of the logarithmic bar, and the average contour will be taken as a component to enter the stage of mechanism synthesis. Secondly, the shape of the component of the variable shape mechanism is directly related to the curve. After processing the deformation curve, a method of synthesizing the multi-bar series mechanism is presented, including rigid body connection and adding rotating pair. Finally, according to the design principle, an example of the shape variable mechanism is designed to verify the correctness of the design principle, and the shape variable mechanism is modeled and simulated in 3D software. The transmission angle in the motion of the mechanism is also analyzed properly.
【学位授予单位】：北京邮电大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH112

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