基于球面4R机构的运动学和力学理论与仿真对比研究

发布时间：2018-12-13 06:00

【摘要】：空间球面4R机构具有构件数少、结构简单和能实现主从动杆对应角位移等特点,并且由于该机构存在大量冗余约束,使得机构的分析和使用受到限制。本文以空间球面4R机构及其特殊形式作为研究对象,采用解析求解与计算机软件仿真相结合的方法进行了以下几个方面的对比分析： 1)用传统的运动分析方法和自由度分析方法讨论了4R机构中R副转化为S副对运动的影响,并利用SolidWorks及其集成的SolidWorks MOTION分别来进行建模和仿真分析,得出了与理论分析完全一致的结果。 2)对一种垂直轴空间4R机构进行了动力学分析,采用平面投影法来进行运动学分析,采用达朗贝尔静定原理建立基本的力和力矩的平衡方程,采用能量法来建立变形协调方程,采用SolidWorks来建立基本模型、采用ADAMS进行运动学、静力学、动力学和动态静力的仿真分析,采用MATLAB对得到的理论结果和仿真得到的数据进行绘图对比。结果表明,仿真分忻与理论分析高度一致。 3)讨论了一种由空间4R机构演变而成的空间5R机构的基本运动特性和力学特性。利用SolidWorks MOTION进行运动学仿真分析,通过仿真结果与理论结果对比进行了验证,并讨论了运动影响因子对该机构运动的影响；利用ADAMS对机构进行力学仿真分析,获得了机构的基本动力学特性。最后对所得出的结论进行了分析汇总并提出了一些论文中的不足之处和一些尚待研究的问题,为进一步的研究指出了可供参考的方向。
[Abstract]:The spatial spherical 4R mechanism is characterized by a small number of components, simple structure and the ability to realize the corresponding angular displacement of the main follower. Due to a large number of redundant constraints in the mechanism, the analysis and application of the mechanism are restricted. In this paper, the spatial spherical 4R mechanism and its special form are taken as the research object. The methods of combining analytic solution with computer software simulation are used to compare and analyze the following aspects: 1) traditional motion analysis method and degree of freedom analysis method are used to discuss the conversion of R pair to S in 4R mechanism. The effect of accessory motion, SolidWorks and its integrated SolidWorks MOTION are used for modeling and simulation analysis, and the results are in good agreement with the theoretical analysis. 2) the dynamic analysis of a vertical axis space 4R mechanism is carried out, the kinematics analysis is carried out by plane projection method, and the basic balance equation of force and moment is established by using the principle of Darembert's statically indeterminate. Energy method is used to establish deformation coordination equation, SolidWorks is used to establish basic model, and ADAMS is used to simulate kinematics, statics, dynamics and dynamic static force. The theoretical results are compared with the simulated data by MATLAB. The results show that the simulation results are highly consistent with the theoretical analysis. 3) the basic kinematic and mechanical properties of a spatial 5R mechanism developed from a spatial 4R mechanism are discussed. The kinematics simulation analysis is carried out with SolidWorks MOTION, and the simulation results are compared with the theoretical results, and the influence of the motion influence factors on the motion of the mechanism is discussed. The basic dynamic characteristics of the mechanism are obtained by mechanical simulation analysis with ADAMS. Finally, the conclusions are analyzed and summarized, and some deficiencies in the paper and some problems that need to be studied are put forward, which can be used as a reference for further research.
【学位授予单位】：郑州大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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