基于特殊基本单元放缩机构的结构设计与仿真
发布时间:2018-12-21 07:20
【摘要】:放缩机构是由普通构件组成的可展开、折叠的机构,该机构具有较大的空间缩放比,在很多领域得到了很广泛的应用,如折叠式机车、折叠式帐篷、便携式旅行架、升降机以及放缩玩具、航空、航天等领域。 本文针对三种不同的特殊基本单元进行结构原理以及运动学分析,揭示了其放缩机构构态变化过程,分析了每种基本单元组成的放缩机构的组合特性,并对三种基本单元的实际应用进行了仿真模型设计。 首先,本文对双三角形机构进行了结构原理、运动学分析,总结出该单元构成放缩机构的组合性质,并将该基本单元的应用扩展到空间范围。在此基础上,设计了两种该单元在空间缩放机构中的应用实例。 其次,本文通过对传统剪刀机构的改进,分析了球面杆剪刀机构的结构原理与运动学分析,对该基本单元组成的空间复杂轨迹放缩机构进行了探究,并以此基本单元设计了一种三自由度大行程空间焊接机器人。 最后,引入了一种新的放缩机构基本单元——齿轮副放缩单元,研究并分析了该基本单元构造平面放缩机构的构造原理,对其构成的平面放缩机构进行了运动学分析,并将其扩展到空间放缩单元。
[Abstract]:The retractable mechanism is a deployable, folding mechanism made up of ordinary components. It has a large space scaling ratio and has been widely used in many fields, such as folding locomotives, folding tents, portable travel frames, etc. Lift and shrink toys, aerospace, and other fields. In this paper, the structural principle and kinematics analysis of three different special basic elements are carried out, and the process of structural state change of the scaling mechanism is revealed, and the combined characteristics of each kind of basic unit are analyzed. The simulation model is designed for the practical application of the three basic units. Firstly, the structure principle and kinematics analysis of the double triangle mechanism are carried out, and the combined properties of the element to form the scaling mechanism are summarized, and the application of the basic element is extended to the space range. On this basis, two applications of this unit in the spatial zoom mechanism are designed. Secondly, through the improvement of the traditional scissors mechanism, the structure principle and kinematics analysis of the spherical bar scissors mechanism are analyzed, and the spatial complex trajectory scaling mechanism composed of the basic unit is explored. A three-degree-of-freedom space welding robot is designed based on the basic unit. Finally, a new kind of basic unit of scaling mechanism, gear pair scaling unit, is introduced. The construction principle of the basic unit is studied and analyzed, and the kinematic analysis of the planar scaling mechanism is carried out. It is extended to the space scaling unit.
【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
本文编号:2388560
[Abstract]:The retractable mechanism is a deployable, folding mechanism made up of ordinary components. It has a large space scaling ratio and has been widely used in many fields, such as folding locomotives, folding tents, portable travel frames, etc. Lift and shrink toys, aerospace, and other fields. In this paper, the structural principle and kinematics analysis of three different special basic elements are carried out, and the process of structural state change of the scaling mechanism is revealed, and the combined characteristics of each kind of basic unit are analyzed. The simulation model is designed for the practical application of the three basic units. Firstly, the structure principle and kinematics analysis of the double triangle mechanism are carried out, and the combined properties of the element to form the scaling mechanism are summarized, and the application of the basic element is extended to the space range. On this basis, two applications of this unit in the spatial zoom mechanism are designed. Secondly, through the improvement of the traditional scissors mechanism, the structure principle and kinematics analysis of the spherical bar scissors mechanism are analyzed, and the spatial complex trajectory scaling mechanism composed of the basic unit is explored. A three-degree-of-freedom space welding robot is designed based on the basic unit. Finally, a new kind of basic unit of scaling mechanism, gear pair scaling unit, is introduced. The construction principle of the basic unit is studied and analyzed, and the kinematic analysis of the planar scaling mechanism is carried out. It is extended to the space scaling unit.
【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
【参考文献】
相关期刊论文 前2条
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,本文编号:2388560
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