本文選題：并聯(lián)機構 + 多維隔振　； 參考：《山東大學》2017年碩士論文

【摘要】：在航空航天、交通運輸及機械制造等環(huán)境中,設備會受到大量多維振動和沖擊的影響,這嚴重降低了設備的工作性能和使用壽命,甚至還會導致事故的發(fā)生,造成巨大的經(jīng)濟和人員損失,如何有效地消除振動和沖擊所帶來的危害是廣大研究人員急需解決的一個問題。一般情況下,通過在振源和所需隔振的設備之間安裝隔振器,切斷振動的傳遞路徑,實現(xiàn)振動的隔離,是一種有效的減振措施,然而傳統(tǒng)的有關隔振的理論和方法不能很好地滿足現(xiàn)在工程實際的要求。并聯(lián)機構是一種結構簡單、精度高、剛度大、易于制造、多輸入多輸出的多自由度系統(tǒng),相關研究表明,通過在并聯(lián)機構的原動件和機架之間安裝彈簧阻尼裝置所構建的多維隔振裝置,可以有效實現(xiàn)特定工況下的多維隔振。本文在國家自然科學基金"高鐵等超大型結構寬頻聲振預報的混合能量流方法"(51675306)、"基于柔性變胞機構的精密設備多維振動的主動控制研究"(51275275),國家重點研發(fā)計劃項目"大型機加廠房等典型場所噪聲及電焊煙塵防護技術裝備研發(fā)"(2016YFC0801704)、"密集拋光打磨車間粉塵及振動危害防護技術裝備研發(fā)"(2016YFC0801702)資助下,針對多維隔振問題,構建了基于并聯(lián)機構的多維隔振裝置,對多維隔振裝置制定科學合理的性能評價指標和基于工況要求的參數(shù)優(yōu)化設計方法進行了探索。第一,根據(jù)工程實際中最常見的三平移多維振動形式,在課題組所做研究的基礎上,選取了一種3-PRC三平移并聯(lián)機構作為多維隔振裝置的主體機構,為消除該機構中存在的缺陷,對部分結構進行改進設計,得到3-PRRP(4R)并聯(lián)機構,運動輸出分析表明,3-PRRP(4R)機構具有三個平移自由度,滿足三平移隔振裝置對機構運動輸出形式的要求。第二,建立了 3-PRRP(4R)并聯(lián)機構的運動學模型,通過ADAMS仿真驗證了理論模型的正確性,求得了機構的工作空間,分析了在工作空間內(nèi)機構奇異性和靈巧度隨空間位置的變化情況,結合多維隔振裝置對工作空間形狀和運動學性能的要求,提出了優(yōu)質(zhì)球形空間的概念,詳細分析了構件尺寸參數(shù)對機構工作空間、優(yōu)質(zhì)工作空間和優(yōu)質(zhì)球形空間體積的影響規(guī)律。第三,構建了基于3-PRRP(4R)并聯(lián)機構的多維隔振裝置,建立了隔振裝置的靜力學模型,通過ADAMS仿真驗證了理論模型的正確性,推導出了隔振裝置的等效剛度模型,以一種通俗易懂、清晰直觀的方式描述裝置的剛度特性;在忽略支鏈質(zhì)量的條件下建立了裝置的自由振動微分方程,通過忽略支鏈質(zhì)量和包含支鏈質(zhì)量兩種仿真方式驗證了理論模型的正確性和假設條件的合理性,討論了上平臺質(zhì)量對理論模型精度的影響;通過頻率響應仿真,得到了裝置的頻率響應特性及有效隔振的頻率范圍,討論了構件參數(shù)對隔振裝置固有頻率和模態(tài)振型的影響特性,設計了一種通過改變裝置初始位置以改變隔振裝置固有頻率的裝置。第四,基于并聯(lián)機構的多維隔振裝置設計方法,采用遺傳算法實現(xiàn)了基于特定固有頻率的裝置參數(shù)優(yōu)化設計;針對一般工況要求,采用遺傳算法實現(xiàn)了基于優(yōu)質(zhì)球形空間體積和最大固有頻率的裝置參數(shù)優(yōu)化設計;優(yōu)化后的裝置具有良好的運動學性能和更大的有效隔振頻率范圍,具有顯著的多維隔振效果;最后,按照優(yōu)化后的尺寸制作了隔振裝置樣機。本文在基于并聯(lián)機構的多維隔振裝置的研究中所提出的優(yōu)質(zhì)球形空間結合了隔振裝置度對機構工作空間形狀、體積及運動學性能的要求,科學合理;等效剛度通俗易懂、易于為工程人員掌握;基于特定固有頻率及基于優(yōu)質(zhì)球形空間體積和最大固有頻率的參數(shù)優(yōu)化設計方法與工程實際結合緊密。研究成果對基于并聯(lián)機構的多維隔振裝置的設計與評價、推廣與應用具有一定的指導意義,對有效解決多維振動問題具有一定的參考價值。
[Abstract]:In the environment of Aeronautics and Astronautics, transportation and machinery manufacturing, equipment will be affected by a large number of multidimensional vibration and impact, which seriously reduces the working performance and service life of the equipment, even leads to the occurrence of accidents, resulting in huge economic and personnel losses, and how to effectively eliminate the hazards caused by vibration and impact. In general, it is an effective damping measure by installing the isolator between the vibration source and the required vibration isolation equipment, cutting off the transmission path of the vibration and isolating the vibration. However, the traditional theory and method of vibration isolation can not meet the requirements of the actual engineering. The mechanism is a multi degree of freedom system with simple structure, high precision, large stiffness, easy to manufacture and multi input and multi output. The related research shows that multidimensional vibration isolation system can be effectively realized by installing a spring damping device between the original moving parts and the frame of the parallel mechanism, and it can effectively realize multidimensional vibration isolation under specific conditions. "Hybrid energy flow method" (51675306), "study on active control of multidimensional vibration of precision equipment based on flexible cell mechanism" (51275275), "Research on the noise of the typical field of large machine building and other typical fields and welding smoke and dust protection technology and equipment" (2016YFC0801704), "(51275275)," Under the support of the research and development of the dust and vibration hazard protection equipment in the intensive polishing and grinding workshop (2016YFC0801702), the multidimensional vibration isolation device based on the parallel mechanism is constructed to solve the multidimensional vibration isolation problem. The scientific and reasonable performance evaluation index and the parameter optimization design method based on the requirements of the working condition are explored. First, on the basis of the most common three translational multidimensional vibration form in the engineering practice, on the basis of the research of the project group, a 3-PRC three translation parallel mechanism is selected as the main body of the multidimensional vibration isolation device. In order to eliminate the defects in the mechanism, some structure is modified, and the 3-PRRP (4R) parallel mechanism is obtained and the movement output is divided. The analysis shows that the 3-PRRP (4R) mechanism has three translational degrees of freedom to meet the requirement of the motion output form of the three translational vibration isolation device. Second, the kinematic model of the 3-PRRP (4R) parallel mechanism is established. The correctness of the theoretical model is verified by the ADAMS simulation, the working space of the mechanism is obtained, and the mechanism singularity in the workspace is analyzed. With the change of the space position and the change of the space position, the concept of high quality spherical space is put forward according to the requirements of the multi-dimensional vibration isolation device for the shape and kinematics of the workspace. The influence rules of the component size parameters on the working space of the mechanism, the high quality working space and the high quality spherical space volume are analyzed in detail. Third, the 3-PRR is built on the basis of the structure. The multidimensional vibration isolation device of the P (4R) parallel mechanism has established the static model of the vibration isolation device. The correctness of the theoretical model is verified by the ADAMS simulation. The equivalent stiffness model of the vibration isolation device is derived. The stiffness characteristics of the device are described in a popular and clear way, and the device is established under the condition of neglecting the quality of the branch chain. The differential equation of free vibration is used to verify the correctness of the theoretical model and the reasonableness of the hypothesis by neglecting the two simulation methods of the quality of the branched chain and the mass of the branched chain. The influence of the quality of the upper platform on the accuracy of the theoretical model is discussed. The frequency response characteristic and the frequency range of the effective isolation are obtained by the frequency response simulation. The influence characteristic of component parameters on natural frequency and modal shape of vibration isolation device is discussed. A device that changes the natural frequency of vibration isolation device by changing the initial position of the device is designed. Fourth, the design method of multidimensional vibration isolation device based on parallel mechanism is designed, and the parameter optimization based on the specific natural frequency is realized by genetic algorithm. In view of the general condition requirements, the genetic algorithm is used to optimize the design of the device parameters based on the high quality spherical space volume and the maximum natural frequency. The optimized device has good kinematic performance and a larger effective vibration isolation frequency range, and has a significant multidimensional vibration isolation effect. Finally, the optimized size is made in accordance with the optimized size. The high quality spherical space proposed in the study of multidimensional vibration isolation device based on parallel mechanism combines the requirements of the vibration isolation device degree to the shape of the workspace, the volume and the kinematics of the mechanism. The equivalent stiffness is easy to understand and is easy to master for the engineers; based on the specific natural frequency and the quality based on the high quality The parameter optimization design method of spherical space volume and maximum natural frequency is closely connected with the engineering practice. The research results have certain guiding significance for the design and evaluation of multidimensional vibration isolation device based on parallel mechanism, popularization and application, and have certain reference value for solving the problem of multidimensional vibration effectively.

【學位授予單位】：山東大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TB535.1

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