混合驱动平面3-RRR机构的基础研究

发布时间：2018-11-25 17:54

【摘要】：高新技术飞速发展的今天,对现代机械提出了更高的要求,比如具备输出柔性、能够实现一机多能、满足日益多样化的功能需求等。传统机构缺乏柔性,只能完成较单一的任务;全伺服驱动机器人机构虽然具有良好的柔性,但也存在成本较高、承载能力较差的缺点。混合驱动机构由于综合了两者的优点,成为当前机构学的研究热点之一。混合驱动机构是一种通过多自由度合成机构将恒速电机和伺服电机的输入共同作为动力源的机构。其中,恒速电机提供主要动力,伺服电机则起运动调节作用。纵观国内外研究现状,当前对混合驱动机构的研究主要集中在平面二自由度的五杆和七杆机构上,对于三自由度及以上的机构还没有涉及。本文首次对混合驱动平面三自由度机构进行研究,主要内容包括: (1)通过连杆类配综合出平面三自由度的机构构型,结合混合驱动方式的要求逐一进行选择,最后确定平面3-RRR机构作为研究对象。 (2)对平面3-RRR机构进行基础的运动学分析,包括位姿正解、位姿逆解、雅可比矩阵求解、工作空间分析等,为进一步的深入研究打下基础。 (3)总结混合驱动平面3-RRR机构杆长设计必须满足的约束条件。利用平面单闭环连杆机构的可装配条件,对平面3-RRR机构的曲柄存在条件进行了分析;通过分析具体的奇异位形,给出了避免正向奇异位形的几何条件;最后通过一组仿真实例验证了分析结论。 (4)对混合驱动平面3-RRR机构进行了轨迹规划的研究。基于逆运动学分析的结论,利用三次样条函数进行点位轨迹规划,设计了伺服电机的转动规律,并比较了不同的恒速电机转速对规划结果的影响。由于三自由度是平面与空间之间的过渡,因此本文的研究希望能为将来混合驱动空间机构的研究提供一定的参考价值。
[Abstract]:With the rapid development of high and new technology, higher requirements have been put forward for modern machinery, such as having output flexibility, being able to realize multi-function of one machine, and meeting the increasingly diverse functional requirements and so on. The traditional mechanism is lack of flexibility and can only accomplish a single task. Although the fully servo-driven robot mechanism has good flexibility, it also has the disadvantages of high cost and poor load-carrying capacity. The hybrid drive mechanism has become one of the research hotspots in mechanism science because of synthesizing the advantages of both. The hybrid drive mechanism is a kind of mechanism which uses the input of constant speed motor and servo motor as the power source through the synthesis mechanism of multiple degrees of freedom. Among them, the constant speed motor provides the main power, the servo motor plays the motion regulation function. According to the current research situation at home and abroad, the research on hybrid drive mechanism is mainly focused on the planar two-degree-of-freedom five-bar and seven-bar mechanisms, but not on the three-degree-of-freedom and more mechanisms. The main contents of this paper are as follows: (1) the planar three-degree-of-freedom mechanism is synthesized by connecting rod, and selected one by one according to the requirements of the hybrid drive mode. Finally, the planar 3-RRR mechanism is chosen as the research object. (2) the basic kinematics analysis of planar 3-RRR mechanism, including position-forward solution, position-attitude inverse solution, Jacobian matrix solution, workspace analysis, etc., lays the foundation for further research. (3) summarize the constraint conditions which must be satisfied in the design of the rod length of the hybrid drive plane 3-RRR mechanism. By using the assemblage condition of planar single-loop linkage mechanism, the existence conditions of crank of planar 3-RRR mechanism are analyzed, and the geometric conditions to avoid forward singularity are given by analyzing the specific singular configuration. Finally, the conclusion is verified by a set of simulation examples. (4) trajectory planning of hybrid driven planar 3-RRR mechanism is studied. Based on the conclusion of inverse kinematics analysis, the point locus planning is carried out by using cubic spline function, and the rotation law of servo motor is designed, and the influence of different speed of constant speed motor on the planning result is compared. Since the three degrees of freedom are the transition between plane and space, the study of this paper hopes to provide some reference value for the future study of hybrid drive space mechanism.
【学位授予单位】：中北大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH112

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