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  本文選題：并聯(lián)機(jī)構(gòu) + 多維減振��； 參考：《山東理工大學(xué)》2013年碩士論文

【摘要】：多維振動問題普遍存在于機(jī)械、航空航天、車輛、儀器儀表等各個工程領(lǐng)域,嚴(yán)重影響了有關(guān)人員的安全和設(shè)備的性能及使用壽命。如汽車、輪船或飛機(jī)在行進(jìn)中,駕駛員、乘客以及重要精密儀器設(shè)備因受外界條件的影響將產(chǎn)生無法避免的多維振動,該振動對人或精密儀器等都會產(chǎn)生一定的損傷或損壞。到目前為止,還沒有非常有效的方法解決這一難題。故研究多維減振問題具有十分重要的現(xiàn)實(shí)意義和應(yīng)用價值。 為了更有效的解決多維振動問題,本文采用六自由度并聯(lián)機(jī)構(gòu)作為減振的主體機(jī)構(gòu),選取磁流變阻尼器作為減振執(zhí)行器,建立了多維減振系統(tǒng)模型。 首先,以螺旋理論為基礎(chǔ),提出了廣義等效KP旋量系的概念,并基于廣義等效KP旋量系的理論,系統(tǒng)的綜合了三支鏈和六支鏈的六自由度并聯(lián)機(jī)構(gòu)。結(jié)合減振平臺機(jī)型的選取原則,對綜合出的六自由度并聯(lián)機(jī)構(gòu)進(jìn)行了優(yōu)選,最終選取3-PRPS并聯(lián)機(jī)構(gòu)作為減振的主體機(jī)構(gòu)。 其次,對3-PRPS并聯(lián)機(jī)構(gòu)進(jìn)行了運(yùn)動學(xué)和動力學(xué)分析,其中用坐標(biāo)變換法對其位置反解進(jìn)行了分析,用封閉解法分析了機(jī)構(gòu)的位置正解,并通過Matlab軟件編制程序,對正反解進(jìn)行了數(shù)值驗(yàn)證；用影響系數(shù)法對其速度和加速度進(jìn)行了分析；用直角坐標(biāo)搜索的方法對定姿態(tài)的工作空間進(jìn)行了分析；用拉格朗日方法對機(jī)構(gòu)進(jìn)行了動力學(xué)分析,并且分析了機(jī)構(gòu)的奇異位形,繪制出了奇異軌跡曲面。 再次,基于3-PRPS并聯(lián)機(jī)構(gòu)自身的結(jié)構(gòu)特點(diǎn),分別設(shè)計了單筒充氣式磁流變減振器和雙出桿磁流變減振器,繪制出了減振器結(jié)構(gòu)圖,對阻尼器磁路進(jìn)行了設(shè)計計算,并且對減振器的磁路進(jìn)行了有限元分析,為減振器的設(shè)計制造提供了理論指導(dǎo)。 最后,基于減振座椅運(yùn)動的平穩(wěn)性定義了平穩(wěn)性指標(biāo),并且對平穩(wěn)性進(jìn)行了優(yōu)化設(shè)計,確定了兩種減振器的行程,優(yōu)化了機(jī)構(gòu)的總體參數(shù),繪制出了減振座椅的三維模型圖。
[Abstract]:Multi-dimensional vibration is a common problem in mechanical, aerospace, vehicle, instrumentation and other engineering fields, which seriously affects the safety of personnel, equipment performance and service life. For example, in the progress of automobile, ship or aircraft, the driver, passenger and important precision instrument will produce the inevitable multi-dimensional vibration due to the influence of external conditions, which will cause certain damage or damage to human or precision instrument and so on. So far, there is no very effective way to solve this problem. Therefore, the study of multi-dimensional vibration reduction has very important practical significance and application value. In order to solve the multi-dimensional vibration problem more effectively, this paper adopts the six-degree-of-freedom parallel mechanism as the main mechanism of vibration reduction, selects the magnetorheological damper as the vibration absorber actuator, and establishes the multi-dimensional vibration absorption system model. Firstly, based on the spiral theory, the concept of generalized equivalent KP spinor system is proposed. Based on the theory of generalized equivalent KP spinor system, a 6-DOF parallel mechanism with three branches and six branches is systematically integrated. Combined with the selection principle of the damping platform model, the integrated 6-DOF parallel mechanism is optimized, and the 3-PRPS parallel mechanism is finally selected as the main mechanism of vibration reduction. Secondly, the kinematics and dynamics of 3-PRPS parallel mechanism are analyzed, in which the inverse solution of position is analyzed by coordinate transformation method, the positive solution of mechanism is analyzed by closed solution, and the program is programmed by Matlab software. The positive and negative solutions are numerically verified, the velocity and acceleration are analyzed by the influence coefficient method, the workspace of fixed attitude is analyzed by the method of rectangular coordinate search, and the dynamics of the mechanism is analyzed by Lagrange method. The singularity configuration of the mechanism is analyzed and the singular trajectory surface is drawn. Thirdly, based on the structural characteristics of 3-PRPS parallel mechanism, the single-cylinder inflatable magneto-rheological damper and double-rod magnetorheological damper are designed, the structure diagram of the damper is drawn, and the magnetic circuit of the damper is designed and calculated. The finite element analysis of the magnetic circuit of the shock absorber provides theoretical guidance for the design and manufacture of the absorber. Finally, the stationary index is defined based on the motion stability of the damping seat, and the optimal design of the stationarity is carried out, the stroke of the two kinds of shock absorbers is determined, the overall parameters of the mechanism are optimized, and the three-dimensional model diagram of the damping seat is drawn.
【學(xué)位授予單位】：山東理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：TB535

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