本文關鍵詞： 并聯機構 適應性驅動支鏈 性能分析 優(yōu)化研究　出處：《哈爾濱工業(yè)大學》2011年碩士論文　論文類型：學位論文

【摘要】：隨著科學技術的日益進步,機器人技術逐漸被廣泛應用工業(yè)生產的各個方面。其中并聯機器人由于具有剛度大,慣性小,精度高等諸多優(yōu)點,成為世界各國研究的焦點。其研究成果被應用于航天、精密機械制造、醫(yī)療與生物工程等諸多領域。 本課題針對工業(yè)五軸加工生產任務的需要,提出了一種含有適應性驅動支鏈的六自由度并聯機構。對其進行了運動學分析,通過閉環(huán)方程得出了位置的逆解,之后通過運動約束方程求出了機構的速度雅可比矩陣。進行了對該機構的靈巧度、動平臺傾轉能力、工作空間、靜剛度、動態(tài)特性的性能分析。之后通過運用微分法對機構輸出誤差建模,進行了該機構的精度分析。最后通過對該機構的基座構型、驅動桿長與截面面積進行優(yōu)化,大大的提高了機構的運動性能、結構剛度與動態(tài)特性。從而在減少奇異位形,提高動平臺傾轉能力的同時,使機床具有了較大的工作空間和較高的精度、剛度與動態(tài)特性。 經過性能分析與優(yōu)化研究,機床具有了較好的運動性能、力學性能與動態(tài)特性,具備大傾角轉動能力,能夠完成復雜的五面體加工任務。
[Abstract]:With the development of science and technology, robot technology has been widely used in all aspects of industrial production, in which parallel robot has many advantages, such as high stiffness, small inertia, high precision and so on. It has been used in many fields such as spaceflight, precision mechanical manufacturing, medical treatment and bioengineering. In order to meet the needs of industrial five-axis processing task, a 6-DOF parallel mechanism with adaptive driving branching chain is proposed in this paper. The kinematics analysis is carried out, and the inverse solution of position is obtained by closed-loop equation. Then the velocity Jacobian matrix of the mechanism is obtained by the motion constraint equation. The dexterity of the mechanism, the tilting ability of the moving platform, the workspace and the static stiffness of the mechanism are carried out. Performance analysis of the dynamic characteristics. Then through the differential method to model the output error of the mechanism, the accuracy of the mechanism is analyzed. Finally, the structure of the base, the length of the driving rod and the cross-section area are optimized. It greatly improves the kinematic performance, structural stiffness and dynamic characteristics of the mechanism, thus reducing the singular configuration, improving the tilting ability of the moving platform, and making the machine have a larger workspace and higher accuracy. Stiffness and dynamic characteristics. Through performance analysis and optimization research, the machine has better kinematic performance, mechanical properties and dynamic characteristics, has the ability to rotate large inclination angle, and can complete complex pentahedron processing task.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2011
【分類號】：TH112;TP242

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