本文選題：彈性變形 + 被動(dòng)過約束并聯(lián)機(jī)構(gòu)�。� 參考：《燕山大學(xué)》2014年碩士論文

【摘要】：相較于串聯(lián)機(jī)構(gòu)，并聯(lián)機(jī)構(gòu)盡管結(jié)構(gòu)相對(duì)復(fù)雜、工作空間較小、動(dòng)作相對(duì)不靈活，但是剛度大、運(yùn)動(dòng)誤差無(wú)累積、承載重量比大、模塊化程度高、響應(yīng)速度快、成本低、技術(shù)附加值高，特別適用于重載高精度的場(chǎng)合或微動(dòng)場(chǎng)合。過約束并聯(lián)機(jī)構(gòu)作為特殊的并聯(lián)機(jī)構(gòu)，具有并聯(lián)機(jī)構(gòu)的所有優(yōu)點(diǎn)，在許多場(chǎng)合發(fā)揮了重要作用。但是由于過約束并聯(lián)機(jī)構(gòu)受力分析問題屬于靜不定問題，研究起來(lái)很復(fù)雜，目前國(guó)內(nèi)外對(duì)過約束并聯(lián)機(jī)構(gòu)的受力分析問題進(jìn)行較為系統(tǒng)的研究文獻(xiàn)還非常少。因此，本文是在考慮彈性變形時(shí)，針對(duì)被動(dòng)過約束并聯(lián)機(jī)構(gòu)進(jìn)行的受力與數(shù)值仿真分析，主要研究?jī)?nèi)容包含下面幾個(gè)方面： 應(yīng)用螺旋理論分析過約束并聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)螺旋系、約束力螺旋系，并定義過約束力螺旋系、等效約束力螺旋系、分析等效約束力螺旋系與六維外力之間的關(guān)系；考慮彈性變形時(shí)分析了不同分支的剛度矩陣；基于并聯(lián)機(jī)構(gòu)的變形協(xié)調(diào)方程，得到機(jī)構(gòu)的整體剛度矩陣及分支末端的約束反力及分支驅(qū)動(dòng)力；根據(jù)分支末端的約束反力依次可得到分支各關(guān)節(jié)的約束力。最終得到求解過約束并聯(lián)機(jī)構(gòu)受力的理論計(jì)算方法，為過約束并聯(lián)機(jī)構(gòu)的受力分析提供重要的理論指導(dǎo)。 應(yīng)用提出的過約束并聯(lián)機(jī)構(gòu)的受力理論計(jì)算方法，針對(duì)三種典型的被動(dòng)過約束并聯(lián)機(jī)構(gòu)(3-PRRR三維正交移動(dòng)過約束少自由度并聯(lián)機(jī)構(gòu)、二自由度球面定點(diǎn)并聯(lián)機(jī)構(gòu)、2UPS+SR二維轉(zhuǎn)動(dòng)過約束并聯(lián)機(jī)構(gòu))進(jìn)行受力分析計(jì)算。 提出了一種建立過約束并聯(lián)機(jī)構(gòu)的受力數(shù)值仿真方法。該方法首先應(yīng)用Proe對(duì)幾種典型的被動(dòng)過約束并聯(lián)機(jī)構(gòu)進(jìn)行三維模型的建立，，并保存為Adams和Ansys能夠?qū)氲母袷�；在Ansys有限元軟件中對(duì)需要柔性化的桿件進(jìn)行模態(tài)分析，導(dǎo)出模態(tài)中性文件；在Adams軟件中對(duì)三維剛體模型中需要進(jìn)行柔性化的剛性桿件進(jìn)行替換或?qū)�，完成剛�(cè)峄旌夏Ｐ偷慕⒉⑦M(jìn)行仿真。 通過對(duì)并聯(lián)機(jī)構(gòu)分支進(jìn)行分類，并在分析被動(dòng)過約束并聯(lián)機(jī)構(gòu)的分支特點(diǎn)及分支在約束力螺旋和驅(qū)動(dòng)力螺旋作用下產(chǎn)生的彈性變形特點(diǎn)，得到了分析被動(dòng)過約束并聯(lián)機(jī)構(gòu)受力時(shí)影響分支受力分析機(jī)理非常重要的兩點(diǎn)結(jié)論。
[Abstract]:Compared with the series mechanism, the parallel mechanism is relatively complex in structure, small in workspace and relatively inflexible in motion, but it has large stiffness, no accumulation of motion error, large load-bearing weight ratio, high modularization, fast response speed and low cost. High added-value technology, especially for heavy-duty and high-precision occasions or fretting occasions. As a special parallel mechanism, overconstrained parallel mechanism has all the advantages of parallel mechanism and plays an important role in many situations. However, due to the static uncertainty of overconstrained parallel mechanisms, the research is very complex. At present, there are few literatures on the mechanical analysis of overconstrained parallel mechanisms at home and abroad. Therefore, this paper is to consider the elastic deformation, the passive over-constrained parallel mechanism force and numerical simulation analysis, the main content of the study includes the following aspects: The screw theory is applied to analyze the kinematic and binding helical system of the parallel mechanism, and the relationship between the equivalent binding helical system and the six-dimensional external force is analyzed by defining the superbinding helical system and equivalent binding helical system. Considering the elastic deformation, the stiffness matrix of different branches is analyzed, and based on the deformation coordination equation of the parallel mechanism, the global stiffness matrix of the mechanism, the constrained reaction force at the end of the branch and the driving force of the branch are obtained. According to the constraint reaction at the end of the branch, the binding force of each joint can be obtained in turn. Finally, the theoretical calculation method for the force of over-constrained parallel mechanism is obtained, which provides an important theoretical guidance for the analysis of the force of over-constrained parallel mechanism. In this paper, three typical passive over-constrained parallel mechanisms are studied by using the theory of force calculation of over-constrained parallel mechanisms, which are 3-PRRR three dimensional orthogonal moving and less degree of freedom parallel mechanisms. The two-DOF spherical fixed-point parallel mechanism is analyzed and calculated by 2 D UPS SR 2 D rotational over-constrained parallel mechanism. In this paper, a numerical simulation method for the force of an overconstrained parallel mechanism is proposed. In this method, three dimensional models of several typical passive over-constrained parallel mechanisms are built by using Proe, which is saved as a format that can be imported by Adams and Ansys, and the modal analysis of the members that need flexibility is carried out in Ansys finite element software. The modal neutral file is derived, and the flexible rigid bar is replaced or imported in Adams software to complete the establishment and simulation of the rigid-flexible hybrid model. By classifying the branches of the parallel mechanism and analyzing the characteristics of the branch of the passive over-constrained parallel mechanism and the elastic deformation characteristics of the branch under the action of the binding screw and the driving force screw, the paper analyzes the characteristics of the branch of the passive over-constrained parallel mechanism. Two important conclusions are obtained that influence the mechanism of branch force analysis when the passive overconstrained parallel mechanism is subjected to force.
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TH112

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