本文關(guān)鍵詞：運(yùn)動鏈型綜合的基本回路方法及混合驅(qū)動機(jī)構(gòu)構(gòu)型設(shè)計　出處：《中北大學(xué)》2016年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 運(yùn)動鏈 型綜合 同構(gòu)識別 剛性子鏈 驅(qū)動件選取 混合驅(qū)動機(jī)構(gòu) 構(gòu)型設(shè)計

【摘要】：機(jī)構(gòu)創(chuàng)新設(shè)計在很大程度上決定了機(jī)械產(chǎn)品的創(chuàng)新性,機(jī)構(gòu)的創(chuàng)新設(shè)計所要解決的主要問題即為運(yùn)動鏈拓?fù)浣Y(jié)構(gòu)學(xué)的研究,所以運(yùn)動鏈型綜合研究在機(jī)構(gòu)創(chuàng)新設(shè)計中占用十分重要的地位。尋求一種計算機(jī)自動實(shí)現(xiàn)構(gòu)型創(chuàng)新設(shè)計的理論和方法一直以來都是機(jī)構(gòu)創(chuàng)新設(shè)計的研究熱點(diǎn)�，F(xiàn)階段還沒有完全實(shí)現(xiàn)機(jī)構(gòu)創(chuàng)新設(shè)計的自動化。本文以實(shí)現(xiàn)運(yùn)動鏈型綜合的自動化設(shè)計為研究目標(biāo),根據(jù)類型綜合創(chuàng)新方法,首先從已有的運(yùn)動鏈圖譜中,選擇滿足設(shè)計要求的可行運(yùn)動鏈;其次根據(jù)需要對機(jī)架進(jìn)行合理的變換,選取合適的構(gòu)件為驅(qū)動件;最后得到滿足設(shè)計要求的混合驅(qū)動機(jī)構(gòu)的機(jī)構(gòu)構(gòu)型。本文主要內(nèi)容包括以下幾個方面:基于圖論,建立了運(yùn)動鏈構(gòu)件、運(yùn)動副以及各個基本獨(dú)立回路之間關(guān)系的基本回路方法;提出了運(yùn)動鏈基本回路矩陣的表達(dá)方法;確定了基本回路矩陣之間的運(yùn)算法則及運(yùn)算的基本性質(zhì)。運(yùn)動鏈基本回路分析方法,為后續(xù)章節(jié)的運(yùn)動鏈同構(gòu)識別、剛性子鏈識別及消除、驅(qū)動件的選取及機(jī)架變換分析方法提供了分析計算基礎(chǔ)。根據(jù)運(yùn)動鏈基本回路方法,建立了運(yùn)動鏈基本回路類型集,將復(fù)雜圖形的運(yùn)動鏈分解為相對獨(dú)立簡單的基本子圖。通過對簡單子圖的同構(gòu)識別,實(shí)現(xiàn)了運(yùn)動鏈的同構(gòu)識別。通過分析基本回路與其他回路之間的關(guān)系,提出了運(yùn)動鏈剛性子鏈的判斷方法。通過運(yùn)動鏈基本回路矩陣間的運(yùn)算,實(shí)現(xiàn)了運(yùn)動鏈剛性子鏈的識別和消除。對運(yùn)動鏈的同構(gòu)識別和剛性子鏈的識別與消除的計算過程進(jìn)行編程,實(shí)現(xiàn)了計算機(jī)的自動化。通過分析運(yùn)動鏈的運(yùn)動規(guī)律,提出了多自由度運(yùn)動鏈驅(qū)動件的選取方法。數(shù)學(xué)方法驗(yàn)證了此方法的正確性。基于運(yùn)動鏈基本回路矩陣,進(jìn)行了多自由度運(yùn)動鏈驅(qū)動件選取過程的數(shù)值分析計算。計算編程實(shí)現(xiàn)了運(yùn)動鏈驅(qū)動件的自動選取。運(yùn)動鏈向機(jī)構(gòu)演化時,選擇不同的構(gòu)件為機(jī)架時會產(chǎn)生相同的構(gòu)型即產(chǎn)生機(jī)構(gòu)同構(gòu)問題。提出了機(jī)構(gòu)同構(gòu)識別的方法。結(jié)合驅(qū)動件的選取方法,確定了當(dāng)驅(qū)動件為連架桿時,機(jī)構(gòu)的確定方法。利用運(yùn)動鏈基本回路方法,實(shí)現(xiàn)了當(dāng)驅(qū)動件為連架桿時,確定滿足條件的機(jī)構(gòu)的計算過程。計算機(jī)編程實(shí)現(xiàn)了運(yùn)動鏈取不同機(jī)架、驅(qū)動件為連架桿時,機(jī)構(gòu)的自動確定。為實(shí)現(xiàn)機(jī)構(gòu)型綜合的自動化研究奠定了基礎(chǔ)。對二自由度、三自由度十桿以內(nèi)的部分運(yùn)動鏈進(jìn)行了分析,確定了驅(qū)動件為連架桿的機(jī)構(gòu),得到了可作為多自由度混合驅(qū)動機(jī)構(gòu)的構(gòu)型,對其中一種混合驅(qū)動機(jī)構(gòu)的驅(qū)動能力進(jìn)行了分析,為多自由度混合驅(qū)動機(jī)構(gòu)的研究奠定基礎(chǔ)。
[Abstract]:The innovative design of mechanism determines the innovation of mechanical products to a great extent. The main problem to be solved in the innovative design of mechanism is the study of the topological structure of kinematic chain. Therefore, the research of kinematic chain type synthesis occupies a very important position in the mechanism innovation design. At the same time, the automatization of mechanism innovation design has not been completely realized. This paper aims to realize the automatic design of kinematic chain synthesis. According to the innovative method of type synthesis, the feasible kinematic chains which meet the design requirements are selected from the existing kinematic chain atlas. Secondly, according to the needs of the rack reasonable transformation, select the appropriate components as the driving parts; Finally, the configuration of the hybrid drive mechanism is obtained. The main contents of this paper are as follows: based on graph theory, the kinematic chain component is established. The basic loop method of the relation between the motion pair and each basic independent loop; The expression method of the basic loop matrix of the kinematic chain is presented. The algorithms and the basic properties of the basic loop matrix are determined. The basic loop analysis method of the kinematic chain is the isomorphic recognition of the kinematic chain and the recognition and elimination of the rigid subchain in the following chapters. The selection of drive parts and the analysis method of frame transformation provide the basis of analysis and calculation. According to the method of basic loop of motion chain, the basic loop type set of motion chain is established. The motion chain of the complex graph is decomposed into a relatively independent and simple basic subgraph. The isomorphism recognition of the motion chain is realized by recognizing the isomorphism of the simple subgraph, and the relationship between the basic loop and other circuits is analyzed. A method for judging rigid subchains of kinematic chains is presented, and the calculation between the matrix of the basic loop of kinematic chains is carried out. The recognition and elimination of rigid sub-chains of kinematic chains are realized. The calculation process of isomorphic recognition of kinematic chains and recognition and elimination of rigid sub-chains is programmed. The automation of computer is realized. By analyzing the motion law of kinematic chain, the method of selecting the driver of multi-degree-of-freedom kinematic chain is put forward. The correctness of this method is verified by mathematical method, based on the basic loop matrix of kinematic chain. Numerical analysis and calculation of the selection process of the multi-degree-of-freedom kinematic chain driver are carried out. The automatic selection of the motion chain driver is realized by computer programming. When the kinematic chain evolves to the mechanism. When different components are selected as frame, the same configuration will be produced, that is, the isomorphism problem of mechanism is produced. The method of mechanism isomorphism identification is put forward. Combined with the method of selecting driving parts, it is determined that when the driving member is connected with the frame, the mechanism isomorphism problem is produced. The method of determining the mechanism. By using the basic loop method of the kinematic chain, the calculation process of the mechanism which meets the conditions is realized when the driver is connected with the frame. The computer program realizes the different frame of the motion chain. The automatic determination of the mechanism when the driver is connected to the frame rod, which lays the foundation for the automation research of the mechanism synthesis. The partial kinematic chain with two degrees of freedom and ten bars of three degrees of freedom is analyzed. The structure of the multi-degree-of-freedom hybrid drive mechanism is obtained, and the driving ability of one of the hybrid drive mechanisms is analyzed. It lays a foundation for the research of multi-degree of freedom hybrid drive mechanism.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：TH112
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本文編號：1429019