本文選題：柔順虎克鉸　切入點(diǎn)：柔順并聯(lián)機(jī)構(gòu)　出處：《華南理工大學(xué)》2014年博士論文

【摘要】：隨著軍事工程、光通信工程、生物工程、精密機(jī)械工程、精密光學(xué)工程等領(lǐng)域的科學(xué)技術(shù)不斷發(fā)展，迫切需要各方面性能都更加出色的新型機(jī)構(gòu)來(lái)適應(yīng)越來(lái)越高的操作需求。合理構(gòu)型的柔順并聯(lián)機(jī)構(gòu)操作精度、響應(yīng)速度、承載力、可控性、靈活性等方面都有比較出色的表現(xiàn)，但運(yùn)動(dòng)范圍普遍較小，柔順鉸鏈的類(lèi)型、材料的剛度和材料的彈性極限嚴(yán)格的限制了轉(zhuǎn)動(dòng)角度的大小。 本文對(duì)大行程柔順虎克鉸設(shè)計(jì)及大行程柔順并聯(lián)機(jī)構(gòu)設(shè)計(jì)問(wèn)題作了以下研究： （1）設(shè)計(jì)了一種新型多簧片大變形柔順虎克鉸，通過(guò)偽剛體模型計(jì)算和非線(xiàn)性有限元仿真，驗(yàn)證了該鉸鏈結(jié)構(gòu)的合理性和模型的有效性，該設(shè)計(jì)基本符合虎克鉸的轉(zhuǎn)動(dòng)特性。在虎克鉸的初步設(shè)計(jì)基礎(chǔ)上，又針對(duì)虎克鉸的各項(xiàng)性能進(jìn)行了多目標(biāo)優(yōu)化設(shè)計(jì)，增加運(yùn)動(dòng)行程、提高非功能方向的剛度、提高承載力、便于加工等，，得到裝配式柔順虎克鉸為最優(yōu)結(jié)構(gòu)。該柔順虎克鉸可實(shí)現(xiàn)高精度、大角度的二維轉(zhuǎn)動(dòng)運(yùn)動(dòng)，采用直線(xiàn)與曲線(xiàn)復(fù)合簧片對(duì)稱(chēng)分布柔度設(shè)計(jì)，提高了鉸鏈的軸向剛度和徑向剛度，當(dāng)受到純轉(zhuǎn)矩作用時(shí)，基本沒(méi)有軸心漂移，是一種性能優(yōu)良的大行程柔順虎克鉸。 （2）基于大變形柔性虎克鉸設(shè)計(jì)了PUU運(yùn)動(dòng)鏈，將4條PUU運(yùn)動(dòng)鏈對(duì)稱(chēng)布置，構(gòu)造了一種空間三自由度大行程柔順并聯(lián)機(jī)構(gòu)。使用螺旋理論對(duì)PUU運(yùn)動(dòng)鏈和并聯(lián)機(jī)構(gòu)的自由度進(jìn)行了分析，建立了三自由度柔順并聯(lián)機(jī)構(gòu)的等效偽剛體模型，推導(dǎo)了機(jī)構(gòu)的位置反解方程和速度雅克比矩陣，并利用非線(xiàn)性有限元軟件進(jìn)行了模擬仿真，結(jié)果表明機(jī)構(gòu)的等效偽剛體模型是有效的。這種三自由度柔順并聯(lián)機(jī)構(gòu)可達(dá)立方厘米級(jí)的工作空間。 （3）基于大變形柔性虎克鉸設(shè)計(jì)了PURU運(yùn)動(dòng)鏈和UC運(yùn)動(dòng)鏈，并使用4條PURU運(yùn)動(dòng)鏈和1條UC運(yùn)動(dòng)鏈，構(gòu)造了一種空間四自由度大行程柔順并聯(lián)機(jī)構(gòu)。使用螺旋理論對(duì)PURU運(yùn)動(dòng)鏈、UC運(yùn)動(dòng)鏈和并聯(lián)機(jī)構(gòu)的自由度進(jìn)行了分析，建立了四自由度柔順機(jī)構(gòu)的等效偽剛體模型，推導(dǎo)了機(jī)構(gòu)的位置反解和速度雅克比矩陣，根據(jù)柔性虎克鉸的轉(zhuǎn)角范圍，分析了四自由度柔順機(jī)構(gòu)的工作空間。根據(jù)非線(xiàn)性有限元軟件的比較結(jié)果，該柔順機(jī)構(gòu)可以輸出高精度大位移的三維轉(zhuǎn)動(dòng)和一維平動(dòng)。 (4)根據(jù)前述章節(jié)的分析結(jié)果，對(duì)大行程三自由度和四自由度柔順并聯(lián)機(jī)構(gòu)的輸出行程做了實(shí)驗(yàn)研究。根據(jù)實(shí)驗(yàn)結(jié)果，對(duì)相對(duì)誤差進(jìn)行了討論，并根據(jù)誤差來(lái)源對(duì)柔順機(jī)構(gòu)的等效偽剛體模型進(jìn)行修正。使用修正公式進(jìn)行的實(shí)驗(yàn)結(jié)果表明，修正公式是有效的，顯著減小了相對(duì)誤差。
[Abstract]:With the continuous development of science and technology in the fields of military engineering , optical communication engineering , biological engineering , precision machinery engineering , precision optical engineering and so on , new mechanisms with better performance are urgently needed to adapt to the increasing operation demand . The reasonable configuration of the flexible parallel mechanism has excellent performance in operation precision , response speed , bearing capacity , controllability , flexibility and the like , but the range of motion is generally small , the type of the flexible hinge , the rigidity of the material and the elastic limit of the material strictly limit the size of the rotation angle .

In this paper , the design of a large - stroke flexible joint and the design of a large - stroke flexible parallel mechanism are studied in this paper .

( 1 ) The design of a novel multi - reed large deformation flexible hooker hinge , which is based on the pseudo - rigid body model and the nonlinear finite element simulation , verifies the rationality of the hinge structure and the validity of the model . The design basically accords with the rotation characteristic of the Hooke ' s hinge .

( 2 ) The PUU kinematic chain is designed based on the large deformation flexible Hooke hinge . Four PUU kinematic chains are symmetrically arranged , and a three - degree - of - freedom large - stroke compliant parallel mechanism is constructed . The equivalent pseudo - rigid body model of the three - degree - of - freedom flexible parallel mechanism is established by using the spiral theory , and the simulation simulation is carried out by using the nonlinear finite element software , and the result shows that the equivalent pseudo - rigid body model of the mechanism is effective .

( 3 ) The puru kinematic chain and the UC kinematic chain are designed on the basis of the large deformation flexible Hooke hinge , and four PURU kinematic chains and one UC kinematic chain are used to analyze the degrees of freedom of the four - degree - of - freedom flexible mechanism by using the spiral theory , and the working space of the four - degree - of - freedom compliance mechanism is deduced . According to the comparison result of the nonlinear finite element software , the compliant mechanism can output three - dimensional rotation and one - dimensional translation of high - precision large displacement .

( 4 ) According to the analysis result of the previous chapter , the output stroke of the three - degree - of - freedom and four - degree - of - freedom flexible parallel mechanism is experimentally studied . Based on the experimental results , the relative error is discussed , and the equivalent pseudo - rigid body model of the compliant mechanism is corrected according to the error source . The experimental results show that the modified formula is effective and the relative error is significantly reduced .

【學(xué)位授予單位】：華南理工大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類(lèi)號(hào)】：TH112

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