本文選題：冗余驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)　切入點(diǎn)：構(gòu)型綜合　出處：《北京交通大學(xué)》2013年博士論文　論文類型：學(xué)位論文

【摘要】：針對(duì)現(xiàn)代裝備的高性能要求,本文提出利用冗余驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)來(lái)提升技術(shù)裝備的整體驅(qū)動(dòng)能力和提高機(jī)構(gòu)的容錯(cuò)性能,并系統(tǒng)研究驅(qū)動(dòng)冗余并聯(lián)機(jī)構(gòu)的構(gòu)型綜合理論。 提出了一種系統(tǒng)綜合冗余驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)的方法。選擇單環(huán)機(jī)構(gòu)或者多環(huán)機(jī)構(gòu)作為機(jī)構(gòu)的支鏈驅(qū)動(dòng)單元,將機(jī)構(gòu)可能的約束耦合在支鏈單元內(nèi)完成,從而獲得非過(guò)約束的或者低次過(guò)約束的冗余驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)�；谏鲜龅臉�(gòu)型方法,對(duì)具有三轉(zhuǎn)動(dòng)、三移動(dòng)、兩轉(zhuǎn)動(dòng)一移動(dòng)、兩移動(dòng)一轉(zhuǎn)動(dòng)和四、五自由度運(yùn)動(dòng)的冗余驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)進(jìn)行了構(gòu)型綜合,得到了系列構(gòu)型。 基于獨(dú)立參數(shù)的設(shè)計(jì)需求,給出了冗余驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)的一般演化過(guò)程。不考慮機(jī)構(gòu)末端動(dòng)平臺(tái)的自由度形式,空間剛體的位置和姿態(tài)可以由選定的與剛體固聯(lián)的不共線三點(diǎn)決定。選定與動(dòng)平臺(tái)固聯(lián)點(diǎn)的實(shí)現(xiàn)形式：空間點(diǎn)、平面點(diǎn)和直線點(diǎn),通過(guò)單環(huán)或者多環(huán)機(jī)構(gòu)實(shí)現(xiàn)固聯(lián)點(diǎn)的運(yùn)動(dòng),即可得到冗余驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)的系列構(gòu)型。 通過(guò)添加冗余驅(qū)動(dòng)支鏈的方式,對(duì)機(jī)構(gòu)可能出現(xiàn)的伴隨運(yùn)動(dòng)進(jìn)行了消除。針對(duì)典型的3-UPU并聯(lián)機(jī)構(gòu)總是存在非期望轉(zhuǎn)動(dòng)這一情況,進(jìn)行了分析評(píng)估和規(guī)避研究�？紤]約束誤差對(duì)伴隨轉(zhuǎn)動(dòng)的影響,約束螺旋與伴隨轉(zhuǎn)動(dòng)之間的互易積將不再等于零,即：約束螺旋對(duì)伴隨轉(zhuǎn)動(dòng)存在做功現(xiàn)象�；诖�,得到了伴隨轉(zhuǎn)動(dòng)自由度運(yùn)動(dòng)的范數(shù)表達(dá),并以此作為衡量指標(biāo)檢驗(yàn)了誤差約束對(duì)非期望轉(zhuǎn)動(dòng)的影響幅度。最后,提出了通過(guò)添加冗余驅(qū)動(dòng)支鏈的方法,對(duì)機(jī)構(gòu)可能出現(xiàn)的伴隨運(yùn)動(dòng)進(jìn)行消除。 提出了一種新型4-UPU冗余驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)。該機(jī)構(gòu)以2-UPU單環(huán)機(jī)構(gòu)作為基礎(chǔ)構(gòu)型單元,消除了UPU類并聯(lián)機(jī)構(gòu)可能存在的伴隨運(yùn)動(dòng)。此冗余驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)具有簡(jiǎn)單的正運(yùn)動(dòng)學(xué)求解,并且只有一種可以完全規(guī)避的結(jié)構(gòu)奇異。當(dāng)某一個(gè)驅(qū)動(dòng)支鏈出現(xiàn)故障鎖住時(shí),機(jī)構(gòu)動(dòng)平臺(tái)依然能夠?qū)崿F(xiàn)部分的空間移動(dòng)運(yùn)動(dòng),通過(guò)求解得到機(jī)構(gòu)的容錯(cuò)工作空間。
[Abstract]:In order to meet the high performance requirements of modern equipment, this paper proposes to improve the overall driving capability of technical equipment and the fault-tolerant performance of the mechanism by using redundant drive parallel mechanism, and systematically studies the configuration synthesis theory of drive redundant parallel mechanism. In this paper, a method of synthesizing redundant parallel mechanism is proposed. The single ring mechanism or multi-ring mechanism is chosen as the branch chain driving unit of the mechanism, and the possible constraints of the mechanism are coupled in the branch chain unit. Thus, a redundant parallel mechanism with non-overconstrained or low-order overconstraints is obtained.; based on the above configuration method, a parallel mechanism with three rotations, three moves, two rotations and one movement, two moves and one rotation and four are obtained. The configuration synthesis of the redundant parallel mechanism with five degrees of freedom is carried out, and a series of configurations are obtained. Based on the design requirements of independent parameters, the general evolution process of redundant drive parallel mechanism is given. The position and attitude of the spatial rigid body can be determined by the non-collinear three points of the rigid body fixed to the rigid body. The realization form of the fixed point with the moving platform is selected: the space point, the plane point and the straight line point, and the motion of the fixed point is realized through the single ring or multi-ring mechanism. The series configuration of redundant drive parallel mechanism can be obtained. In this paper, the possible accompanying motion of the mechanism is eliminated by adding redundant driving branchlets. For the typical 3-UPU parallel mechanism, there is always an unexpected rotation. Analysis, evaluation and circumvention are carried out. Considering the effect of constraint error on the accompanying rotation, the reciprocal product between the constraint screw and the accompanying rotation will no longer be equal to zero, that is, the work of the constraint screw on the accompanying rotation will not be equal to zero. The norm expression of motion with rotational degrees of freedom is obtained, and the influence of error constraints on unexpected rotation is tested as a measure. Finally, the method of adding redundant driving branching chains is proposed. Eliminate the possible accompanying movement of the mechanism. A novel 4-UPU redundant drive parallel mechanism is proposed, in which the 2-UPU single loop mechanism is used as the basic configuration unit to eliminate the possible adjoint motion of the UPU parallel mechanism. The redundant drive parallel mechanism has simple forward kinematics solution. And there is only one structure singularity that can be avoided completely. When a fault lock-in of a driving branch chain occurs, the mechanism moving platform can still realize part of the spatial moving motion, and the fault-tolerant workspace of the mechanism can be obtained by solving the problem.
【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2013
【分類號(hào)】：TH112

【引證文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前1條

1 羅中海;調(diào)姿機(jī)構(gòu)力/位置混合控制系統(tǒng)設(shè)計(jì)[D];浙江大學(xué);2014年

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本文編號(hào)：1595506