本文選題：六自由度并聯(lián)機(jī)構(gòu) + 位姿精度分析　； 參考：《哈爾濱工業(yè)大學(xué)》2015年博士論文

【摘要】：隨著工業(yè)技術(shù)的進(jìn)步,并聯(lián)機(jī)構(gòu)的應(yīng)用領(lǐng)域在逐步地拓展。然而,并聯(lián)機(jī)構(gòu)的生產(chǎn)制造仍然面臨一系列難題,精度質(zhì)量控制就是其中之一。在對(duì)國(guó)內(nèi)外文獻(xiàn)分析和研究基礎(chǔ)上,本文以六自由度并聯(lián)機(jī)構(gòu)為研究對(duì)象,從制造和裝配中出現(xiàn)的實(shí)際問(wèn)題出發(fā),圍繞位姿精度分析和綜合兩方面內(nèi)容展開研究。本文建立了六自由度并聯(lián)機(jī)構(gòu)誤差模型,研究了動(dòng)平臺(tái)在給定工作區(qū)域內(nèi),位姿誤差的分布形態(tài)。在并聯(lián)機(jī)構(gòu)精度分析中,國(guó)內(nèi)外學(xué)者主要基于Monte Carlo方法對(duì)位姿誤差統(tǒng)計(jì)參數(shù)進(jìn)行估計(jì),針對(duì)分析過(guò)程存在的計(jì)算精度和效率之間的矛盾,本文提出了基于Sobol序列的擬蒙特卡洛模擬的位姿精度分析方法。與傳統(tǒng)的蒙特卡洛方法對(duì)比,該方法可顯著地提高位姿誤差統(tǒng)計(jì)參數(shù)的計(jì)算精度和效率。針對(duì)球域約束下,位姿誤差概率難以直接求解的問(wèn)題,本文推導(dǎo)并得出位姿誤差概率積分方程的近似形式,得到位姿誤差概率隨球域半徑的變化規(guī)律。結(jié)合并聯(lián)機(jī)構(gòu)實(shí)際裝配階段,動(dòng)平臺(tái)中心位置和姿態(tài)角偏差的控制要求,分析了鉸鏈中心沿水平方向定位誤差所具有各向同性特點(diǎn),研究了位姿誤差標(biāo)準(zhǔn)差之間的關(guān)系,推導(dǎo)并發(fā)現(xiàn)了在對(duì)稱位姿狀態(tài)下,動(dòng)平臺(tái)中心位置和姿態(tài)角偏差分別服從Rayleigh分布,并得到了中心位姿偏差概率隨運(yùn)動(dòng)平臺(tái)高度的變化規(guī)律。鉸鏈間隙誤差是導(dǎo)致并聯(lián)機(jī)構(gòu)位姿誤差的一項(xiàng)重要的隨機(jī)因素。在并聯(lián)機(jī)構(gòu)的工作區(qū)域內(nèi),為獲得鉸鏈間隙對(duì)位姿精度構(gòu)成的影響,本文首先運(yùn)用計(jì)算機(jī)仿真試驗(yàn)和均勻設(shè)計(jì)理論,對(duì)位姿精度敏感度進(jìn)行顯著性分析,找出影響顯著的位姿參數(shù)。通過(guò)簡(jiǎn)化鉸鏈結(jié)構(gòu),建立了并聯(lián)機(jī)構(gòu)冗余結(jié)構(gòu)模型,應(yīng)用正向運(yùn)動(dòng)學(xué)方法分析了傳統(tǒng)概率分析方法在計(jì)算隨機(jī)位姿誤差方面存在問(wèn)題。分析并提出了基于正向運(yùn)動(dòng)學(xué)的確定方法,研究了給定工作區(qū)間內(nèi)位姿隨機(jī)誤差分布形態(tài)以及鉸鏈間隙變化對(duì)位姿精度的影響,結(jié)論支持了精度敏感度的分析結(jié)果。圍繞并聯(lián)機(jī)構(gòu)中心位姿隨機(jī)偏差檢測(cè)過(guò)程。應(yīng)用基于正向運(yùn)動(dòng)學(xué)的確定方法和概率方法進(jìn)行精度分析,得到了中心位姿隨機(jī)偏差隨動(dòng)平臺(tái)高度的變化曲線,同時(shí)指出了兩種方法的聯(lián)系和區(qū)別。結(jié)合生產(chǎn)現(xiàn)場(chǎng)中并聯(lián)機(jī)構(gòu)制造裝配的實(shí)際情況,分析了精度綜合方法存在的問(wèn)題,認(rèn)為精度綜合應(yīng)以現(xiàn)場(chǎng)的工藝能力為基礎(chǔ),形成以裝配性能作為衡量指標(biāo)的可行方案集合,提出了一種基于正交設(shè)計(jì)和均勻設(shè)計(jì)相結(jié)合的六自由度并聯(lián)機(jī)構(gòu)精度綜合方法。首先以現(xiàn)場(chǎng)的工藝能力和經(jīng)驗(yàn)參數(shù)為基礎(chǔ),進(jìn)行正交設(shè)計(jì),得到影響精度的諸多因素敏感度排序,以此為依據(jù)重新劃分各項(xiàng)影響因素的水平,然后進(jìn)行均勻設(shè)計(jì),得到了具有全局意義的精度綜合方案集合。該方法通過(guò)對(duì)結(jié)構(gòu)參數(shù)公差的積極協(xié)調(diào),能夠避免單一優(yōu)化方案存在的失效可能。對(duì)比分析結(jié)果表明:本方法得到的部分方案所對(duì)應(yīng)的公差得到不同程度的放大。最后,結(jié)合本文部分研究?jī)?nèi)容,開發(fā)出六自由度并聯(lián)機(jī)構(gòu)精度分析及其綜合系統(tǒng),并進(jìn)行了應(yīng)用驗(yàn)證。
[Abstract]:With the progress of industrial technology, the application field of parallel mechanism is gradually expanding. However, the production and manufacture of parallel mechanism still faces a series of difficult problems, and the quality control of precision is one of them. On the basis of literature analysis and research at home and abroad, this paper takes six degrees of freedom parallel mechanism as the research object, and appears from the manufacturing and assembly. In this paper, the error model of the six degree of freedom parallel mechanism is established, and the distribution pattern of the position and posture error of the moving platform in a given working area is studied in this paper. In the accuracy analysis of the parallel mechanism, the scholars at home and abroad are mainly based on the Monte Carlo method for the pose error statistics. According to the contradiction between the calculation precision and the efficiency of the analysis process, this paper presents the position and posture accuracy analysis method based on the Quasi Monte Carlo simulation based on the Sobol sequence. Compared with the traditional Monte Carlo method, this method can significantly improve the calculation accuracy and efficiency of the statistical parameters of the pose error. In this paper, the probability of position error is difficult to be solved directly. In this paper, the approximate form of the probability integral equation of position error is derived and the variation law of the position error probability with the radius of the sphere is obtained. The control requirements of the central position and attitude angle deviation of the moving platform are combined with the actual assembly stage of the parallel mechanism, and the square of the hinge center along the water square is analyzed. The relationship between the position error standard deviation is studied and the relationship between the position error standard deviation is studied. It is found that the center position and the attitude angle deviation of the moving platform obey the Rayleigh distribution in the symmetrical position and pose state, and the variation of the probability of the central pose deviation with the height of the motion platform is obtained. The gap error of the hinge is caused by the hinge gap error. In the working area of the parallel mechanism, in order to obtain the influence of the position precision of the hinge clearance in the working area of the parallel mechanism, this paper first uses the computer simulation test and the uniform design theory to analyze the accuracy sensitivity of the position and position, and find out the prominent position and attitude parameters. By simplifying the hinges. The redundant structure model of the parallel mechanism is established, and the forward kinematics method is used to analyze the problems in the calculation of random position and pose errors by the traditional probability analysis method. The method of determining the random error distribution in the given working interval and the hinge gap change is studied. The results of precision sensitivity are supported, and the results of precision sensitivity are supported. The accuracy analysis is carried out based on the determination method and probability method based on forward kinematics based on the positive kinematics of parallel mechanism. The variation curve of the random deviation of the central pose with the height of the moving platform is obtained. At the same time, the combination of the two methods is pointed out. According to the actual situation of the manufacturing and assembly of parallel mechanism in the production site, the problems existing in the precision synthesis method are analyzed. It is considered that the precision synthesis should be based on the process capability of the field, and forms a feasible scheme set with assembly performance as a measure index, and puts forward a six self based on the combination of orthogonal design and uniform design. The precision synthesis method of the degree parallel mechanism is based on the process capability and the experience parameters of the field, and the orthogonal design is carried out, and many factors sensitivity order of the influence precision are obtained. On this basis, the level of the influence factors is redivided, then the uniform design is carried out, and the comprehensive set of precision comprehensive scheme with the global significance is obtained. Through the active coordination of the structural parameter tolerance, the method can avoid the failure possibility of the single optimization scheme. The results of comparison and analysis show that the corresponding tolerance of some schemes obtained by this method is magnified to varying degrees. Finally, the accuracy analysis and synthesis of the six degree of freedom parallel mechanism are developed with the content of this part of this paper. The system has been verified by application.

【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2015
【分類號(hào)】：TH112

【引證文獻(xiàn)】

相關(guān)會(huì)議論文 前1條

1 劉文濤;李兵;王知行;;并聯(lián)機(jī)床誤差的空間分布形態(tài)研究[A];第十一屆全國(guó)機(jī)構(gòu)學(xué)年會(huì)暨首屆青年機(jī)構(gòu)學(xué)研討會(huì)論文集[C];1998年

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本文編號(hào)：1843771