本文選題：并聯(lián)機構 + 柔性�。� 參考：《鄭州大學》2012年碩士論文

【摘要】：并聯(lián)機構加工制造與安裝過程的誤差和長期運動過程中的磨損,會使機構本身的鏈接部位產(chǎn)生間隙；同時并聯(lián)機構中的桿類零件是細長桿,會做大撓度運動,有必要將其視為柔性桿。鉸鏈間隙和構件柔性都會對并聯(lián)機構的動力學性能產(chǎn)生影響,這些影響會造成機器運行過程中的振動與噪聲、使磨損加劇、降低工作效率與輸出精確度,嚴重時會使機構無法正常運行。因此,在分析并聯(lián)機構動力學性能時,要考慮鉸鏈間隙以及桿類零件柔性的影響。 本文首先對考慮間隙和柔性的三自由度并聯(lián)機構多體系統(tǒng)動力學的研究背景和發(fā)展現(xiàn)狀進行了系統(tǒng)的綜述,通過分析現(xiàn)有研究中在的問題,提出本課題研究的主要內容；其次在系統(tǒng)介紹間隙機構動力學分析方法的基礎上,根據(jù)并聯(lián)機構的特點提出接觸碰撞動力學模型,此模型包括等效彈簧阻尼模型,ADAMS中的接觸力模型以及摩擦力模型。接著在充分分析并聯(lián)機構結構特點的基礎上,以等效彈簧阻尼模型和ADAMS中的接觸力模型為基礎,分析了不同材料運動副間隙機構的動力學性能；最后利用動力學理論和ADAMS仿真工具分析鉸鏈間隙和構件柔性對3-RRRT三自由度并聯(lián)機構動力學性能的影響,并得到不同驅動速度情況下,間隙和柔性對該機構動力學性能的影響。 研究結果表明：①間隙越大,接觸頻率越快,振幅越大,機構運動受到的影響也越大。但是無論間隙有多大,接觸情況都是由劇烈振動到平穩(wěn)狀態(tài)過渡,并且間隙的存在對動平臺的速度影響很小。②機構中存在間隙的鉸鏈越多,機構受到的接觸力越大,沖擊越大,機構的運動越容易受到影響。③柔性對并聯(lián)機構的速度和加速度都有影響,并且隨著間隙的增大柔性的影響也越大,但柔性對接觸力的影響不是很大。④驅動速度越快,間隙和柔性對機構動力學性能的影響越大,并且運動越不平穩(wěn)。
[Abstract]:The errors in the manufacturing and installation of the parallel mechanism and the wear and tear in the long-term motion process will cause the gap in the link part of the mechanism itself. At the same time, the rod part in the parallel mechanism is a slender rod, which will make a large deflection motion. It is necessary to regard it as a flexible rod. Hinge clearance and member flexibility will affect the dynamic performance of the parallel mechanism, which will cause vibration and noise during the operation of the machine, aggravate the wear, and reduce the working efficiency and output accuracy. In severe cases, the mechanism will not function properly. Therefore, the influence of hinge clearance and rod flexibility should be taken into account when analyzing the dynamic performance of parallel mechanism. In this paper, the research background and development status of multi-body system dynamics of three-degree-of-freedom parallel mechanism with clearance and flexibility are systematically reviewed, and the main contents of this research are put forward by analyzing the problems in the existing research. Secondly, on the basis of introducing the dynamic analysis method of the clearance mechanism systematically, according to the characteristics of the parallel mechanism, the contact impact dynamic model is proposed. The model includes the contact force model and the friction force model in the equivalent spring damping model Adams. Based on the analysis of the structural characteristics of the parallel mechanism and the equivalent spring damping model and the contact force model in ADAMS, the dynamic performance of the clearance mechanism with different materials is analyzed. Finally, the effects of hinge clearance and component flexibility on the dynamic performance of 3-RRRT three-degree-of-freedom parallel mechanism are analyzed by using dynamic theory and ADAMS simulation tool, and the effects of clearance and flexibility on the dynamic performance of 3-RRRT three-DOF parallel mechanism are obtained under different driving speeds. The results show that the larger the gap is, the faster the contact frequency is and the larger the amplitude is, and the greater the movement of the mechanism is. However, no matter how big the gap is, the contact condition is transition from violent vibration to steady state, and the existence of clearance has a small influence on the velocity of moving platform. 2. The more joints with clearance, the greater the contact force of the mechanism is. The greater the impact, the more vulnerable the motion of the mechanism is to the influence of flexibility on the speed and acceleration of the parallel mechanism, and the greater the effect of the flexibility with the increase of the clearance. However, the effect of flexibility on the contact force is not great. The faster the driving speed is, the greater the influence of clearance and flexibility on the dynamic performance of the mechanism is, and the more unsteady the motion is.
【學位授予單位】：鄭州大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH112

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