基于虚拟样机技术的六自由度空间对接平台研究
发布时间：2018-10-20 17:44
【摘要】：某高功率固体激光系统中,有大量的大口径光学模块需从下往上安装到驱动器主体中去。这些模块种类多,数量大,外形尺寸、结构和重量有较大差别。模块在安装对位过程中,需要对其进行具有一定精度要求的姿态调整。为满足光学模块装校需要,一种混联六自由度对接平台(以下简称空间对接平台)方案被用于解决此工程实际问题。此空间对接平台为机电耦合系统,结构复杂,成本高,制造周期长。在空间对接平台的物理样机制造出来之前,需充分验证其功能特性、机械结构合理性,因此结合虚拟样机的相关技术对平台进行研究,是具有实际应用意义的重要课题,此外在设计过程中应用虚拟样机技术还可减少设计失误、提高设计效率、降低设计成本、缩短设计周期。 本课题以空间对接平台为研究对象,以虚拟样机的相关技术为支撑。首先研究其功能,应用运动学理论分析相应机械机构,采用三维CAD软件Pro/Engineer(简称Pro/E)、有限元分析软件ANSYS及ANSYS Workbench,多体动力学分析软件ADAMS进行了实体建模、有限元分析、运动仿真分析等工作。综合采用虚拟样机相关技术得出的分析结果为空间对接平台的设计和进一步优化设计提供了理论依据,对平台物理样机制造具有重要的指导意义,本文具体内容如下: 首先根据光学模块装校作业流程,分析空间对接平台设计要求和技术指标,得出空间对接平台六自由度由沿X,Y,Z轴的移动和绕X,Y,Z轴的转动组成。在此基础上研究了水平调整机构和平面调整机构组成和工作原理,并应用并联机器人位姿的描述和空间坐标变换理论计算二者的运动学逆解。 其次用CAD三维设计软件Pro/Engineer,建立空间对接平台三维模型;针对空间对接平台的稳定性要求,运用有限元分析软件ANSYS Workbench,分析空间对接平台的有限元模型,根据实际情况施加约束及载荷,进行静力学分析和模态分析,得出了空间对接平台的等效最大值应力、最大变形量值、前10阶模态以及相应振型,分析数据可作为优化设计依据。 最后根据多柔体系统动力学建模理论以及ADAMS的柔性体建模方法,运用有限元分析软件ANSYS输出柔性体建模所需模态中性文件;将其柔性体引入虚拟样机模型,建立了含有柔性体的空间对接平台刚柔耦合系统仿真模型。
[Abstract]:In a high power solid-state laser system, a large number of large aperture optical modules need to be installed in the driver body from the bottom up. There are many kinds of modules, large number, shape size, structure and weight. In the course of installing alignment, the module needs to adjust its attitude with certain precision. In order to meet the needs of optical module installation and calibration, a hybrid six-degree-of-freedom docking platform (hereinafter referred to as space docking platform) is used to solve the practical problem of this project. This space docking platform is an electromechanical coupling system with complex structure, high cost and long manufacturing cycle. Before the physical prototype of the space docking platform is manufactured, it is necessary to fully verify its functional characteristics and the rationality of the mechanical structure. Therefore, it is an important subject with practical significance to study the platform with the related technology of virtual prototyping. In addition, the application of virtual prototyping technology in the design process can also reduce design errors, improve design efficiency, reduce design cost and shorten design cycle. This topic takes the space docking platform as the research object and the related technology of virtual prototyping as the support. Firstly, the function of the mechanism is studied, and the corresponding mechanical mechanism is analyzed by kinematics theory. The 3D CAD software Pro/Engineer (abbreviated as Pro/E), the finite element analysis software ANSYS and the ANSYS Workbench, multi-body dynamics analysis software ADAMS are used to carry out the entity modeling and finite element analysis. Motion simulation analysis and other work. The analysis results obtained by using the related technology of virtual prototyping provide a theoretical basis for the design and further optimization design of the space docking platform, and have an important guiding significance for the manufacture of the platform physical prototype. The main contents of this paper are as follows: firstly, the design requirements and technical specifications of the space docking platform are analyzed according to the process of optical module mounting and calibration, and the six degrees of freedom of the space docking platform are obtained, which consists of the movement along the XG YZ axis and the rotation around the XG YZ axis. On this basis, the composition and working principle of horizontal and planar adjustment mechanisms are studied, and the kinematics inverse solutions of the two mechanisms are calculated by using the description of the position and pose of the parallel robot and the theory of space coordinate transformation. Secondly, the three-dimensional model of space docking platform is established by CAD 3D design software Pro/Engineer, and the finite element analysis software ANSYS Workbench, is used to analyze the finite element model of spatial docking platform according to the stability requirement of spatial docking platform. According to the actual situation, the equivalent maximum stress, maximum deformation value, the first 10 modes and the corresponding modes are obtained by statics analysis and modal analysis. The analysis data can be used as the basis of optimization design. Finally, according to the dynamic modeling theory of multi-flexible body system and the flexible body modeling method of ADAMS, using the finite element analysis software ANSYS to output the modal neutral file required for the flexible body modeling, the flexible body is introduced into the virtual prototype model. The rigid-flexible coupling system simulation model of space docking platform with flexible body is established.
【学位授予单位】：重庆大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH112
本文编号：2283918
[Abstract]:In a high power solid-state laser system, a large number of large aperture optical modules need to be installed in the driver body from the bottom up. There are many kinds of modules, large number, shape size, structure and weight. In the course of installing alignment, the module needs to adjust its attitude with certain precision. In order to meet the needs of optical module installation and calibration, a hybrid six-degree-of-freedom docking platform (hereinafter referred to as space docking platform) is used to solve the practical problem of this project. This space docking platform is an electromechanical coupling system with complex structure, high cost and long manufacturing cycle. Before the physical prototype of the space docking platform is manufactured, it is necessary to fully verify its functional characteristics and the rationality of the mechanical structure. Therefore, it is an important subject with practical significance to study the platform with the related technology of virtual prototyping. In addition, the application of virtual prototyping technology in the design process can also reduce design errors, improve design efficiency, reduce design cost and shorten design cycle. This topic takes the space docking platform as the research object and the related technology of virtual prototyping as the support. Firstly, the function of the mechanism is studied, and the corresponding mechanical mechanism is analyzed by kinematics theory. The 3D CAD software Pro/Engineer (abbreviated as Pro/E), the finite element analysis software ANSYS and the ANSYS Workbench, multi-body dynamics analysis software ADAMS are used to carry out the entity modeling and finite element analysis. Motion simulation analysis and other work. The analysis results obtained by using the related technology of virtual prototyping provide a theoretical basis for the design and further optimization design of the space docking platform, and have an important guiding significance for the manufacture of the platform physical prototype. The main contents of this paper are as follows: firstly, the design requirements and technical specifications of the space docking platform are analyzed according to the process of optical module mounting and calibration, and the six degrees of freedom of the space docking platform are obtained, which consists of the movement along the XG YZ axis and the rotation around the XG YZ axis. On this basis, the composition and working principle of horizontal and planar adjustment mechanisms are studied, and the kinematics inverse solutions of the two mechanisms are calculated by using the description of the position and pose of the parallel robot and the theory of space coordinate transformation. Secondly, the three-dimensional model of space docking platform is established by CAD 3D design software Pro/Engineer, and the finite element analysis software ANSYS Workbench, is used to analyze the finite element model of spatial docking platform according to the stability requirement of spatial docking platform. According to the actual situation, the equivalent maximum stress, maximum deformation value, the first 10 modes and the corresponding modes are obtained by statics analysis and modal analysis. The analysis data can be used as the basis of optimization design. Finally, according to the dynamic modeling theory of multi-flexible body system and the flexible body modeling method of ADAMS, using the finite element analysis software ANSYS to output the modal neutral file required for the flexible body modeling, the flexible body is introduced into the virtual prototype model. The rigid-flexible coupling system simulation model of space docking platform with flexible body is established.
【学位授予单位】：重庆大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH112
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