基于单开链的并联机构震动力平衡研究

发布时间：2018-09-12 12:30

【摘要】：因空间单回路机构易于完成位置分析,作者将有限位置法推广到其震动力平衡分析中；而针对复杂的空间并联机构位置分析的难题,提出了基于单开链单元的并联机构震动力平衡的单位向量法。本文的主要内容如下：简要介绍了机构震动力平衡分析的研究现状及单开链的一些相关理论。将震动力平衡分析的有限位置法拓展到空间单回路机构中,并以RSSR机构为实例详细介绍了其求解思路。阐述了基于单开链的并联机构震动力平衡的单位向量法的基本思想、特点及一般步骤。归纳总结了一些常见单开链单元并进行了合理地分类,建立了其质径积并将这些结果作为子模块来调用,为实现并联机构震动力平衡分析方程的自动生成并将其程序化奠定了坚实基础。以并联机构RRCS-SSR为研究实例,详细介绍了利用该模式方法进行并联机构震动力平衡分析的具体步骤；并将所得结果进行对比分析,验证了该方法的可靠性与高效性。归纳总结了使用该模式方法应注意的问题与技巧。本文是对单开链理论的进一步扩展、完善；为分析单回路空间机构及复杂并联机构的动力学平衡提供了简单、可靠、高效的方法。本研究成果对研制出合理的并联机构并应用于相关领域具有重要意义。
[Abstract]:Because the spatial single-loop mechanism is easy to complete the position analysis, the author extends the finite position method to the vibration force balance analysis, and aims at the difficult problem of the position analysis of the complex spatial parallel mechanism. The unit vector method of vibration force balance of parallel mechanism based on single open chain element is proposed. The main contents of this paper are as follows: the research status of mechanism vibration force balance analysis and some related theories of single open chain are briefly introduced. The finite position method of vibration force balance analysis is extended to spatial single loop mechanism, and its solution is introduced in detail by taking RSSR mechanism as an example. This paper describes the basic idea, characteristics and general steps of the unit vector method for vibration force balance of parallel mechanism based on single open chain. This paper summarizes and classifies some common single open chain units, establishes its prime path product and calls these results as sub-modules. It lays a solid foundation for automatic generation and programming of vibration force balance analysis equation of parallel mechanism. Taking the parallel mechanism RRCS-SSR as an example, this paper introduces in detail the concrete steps of the vibration force balance analysis of the parallel mechanism using the model method, and compares the results obtained to verify the reliability and efficiency of the method. The problems and techniques that should be paid attention to in using this method are summarized. This paper extends and perfects the theory of single open chain and provides a simple, reliable and efficient method for analyzing the dynamic balance of single loop space mechanism and complex parallel mechanism. The research results are of great significance to the development of reasonable parallel mechanism and its application in related fields.
【学位授予单位】：南昌大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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