本文選題：并聯(lián)機(jī)構(gòu) + 剛體動(dòng)力學(xué)　； 參考：《天津大學(xué)》2012年碩士論文

【摘要】：本文以類Diamond機(jī)構(gòu)為研究對(duì)象,逐步開展逆運(yùn)動(dòng)學(xué)分析、剛體動(dòng)力學(xué)分析、尺度綜合、虛擬樣機(jī)設(shè)計(jì)與模態(tài)預(yù)估等研究。論文取得以下成果: □利用閉環(huán)矢量法構(gòu)造了類Diamond機(jī)構(gòu)的逆運(yùn)動(dòng)學(xué)分析模型,在此基礎(chǔ)上推導(dǎo)出該機(jī)構(gòu)的速度雅可比矩陣,進(jìn)而基于速度雅可比矩陣對(duì)該機(jī)構(gòu)實(shí)施了奇異性分析,并借助算例驗(yàn)證了逆運(yùn)動(dòng)學(xué)分析的有效性。 □以逆運(yùn)動(dòng)學(xué)分析為基礎(chǔ),利用虛功原理建立了類Diamond機(jī)構(gòu)的動(dòng)力學(xué)模型,并由此推導(dǎo)出該機(jī)構(gòu)的單軸最大驅(qū)動(dòng)力矩的顯示表達(dá),為動(dòng)力學(xué)尺度綜合奠定了理論基礎(chǔ)。 □由于可以利用類Diamond機(jī)構(gòu)的尺度和慣性參數(shù)并結(jié)合機(jī)構(gòu)所屬位形顯示表達(dá)該機(jī)構(gòu)的單軸最大驅(qū)動(dòng)力矩,且該單軸最大驅(qū)動(dòng)力矩包含了該機(jī)構(gòu)完整的奇異性信息,故以其作為該機(jī)構(gòu)的動(dòng)力學(xué)性能評(píng)價(jià)指標(biāo),通過對(duì)機(jī)構(gòu)的速度、精度和剛度實(shí)施分析,得出一組以速度雅可比矩陣最大、最小奇異值為基礎(chǔ)的性能約束條件,并在該條件約束下對(duì)機(jī)構(gòu)實(shí)施單調(diào)性分析,優(yōu)化出一組使類Diamond機(jī)構(gòu)全域動(dòng)力學(xué)性能最優(yōu)的尺度參數(shù),為后續(xù)虛擬樣機(jī)設(shè)計(jì)與模態(tài)預(yù)估奠定了基礎(chǔ)。 □以動(dòng)力學(xué)尺度綜合為基礎(chǔ),并結(jié)合工程實(shí)踐經(jīng)驗(yàn),借助商用三維實(shí)體造型軟件設(shè)計(jì)類Diamond機(jī)構(gòu)的虛擬樣機(jī),并利用商用有限元分析軟件預(yù)估該機(jī)構(gòu)在不同位形時(shí)的模態(tài)特性,進(jìn)而提出該機(jī)構(gòu)的結(jié)構(gòu)優(yōu)化方法。
[Abstract]:In this paper, the inverse kinematics analysis, rigid body dynamics analysis, scale synthesis, virtual prototype design and modal prediction are carried out step by step. The results of the thesis are as follows: The inverse kinematics analysis model of the Diamond like mechanism is constructed by using the closed loop vector method, and the velocity Jacobian matrix of the mechanism is derived, and then the singularity analysis of the mechanism is carried out based on the velocity Jacobian matrix. The effectiveness of inverse kinematics analysis is verified by an example. Based on the inverse kinematics analysis, the dynamic model of the Diamond like mechanism is established by using the virtual work principle, and the display expression of the single axis maximum driving moment of the mechanism is deduced, which lays a theoretical foundation for the dynamic scale synthesis. -because the maximum driving torque of the mechanism can be expressed by using the scale and inertia parameters of the Diamond like mechanism and combined with the display of the configuration of the mechanism, and the single axis maximum driving moment contains the complete singularity information of the mechanism, Therefore, by analyzing the velocity, precision and stiffness of the mechanism, a set of performance constraints based on the maximum and minimum singular value of the velocity Jacobian matrix are obtained. Under the constraint of this condition, the monotonicity analysis of the mechanism is carried out, and a set of scale parameters are optimized to optimize the global dynamic performance of the Diamond like mechanism, which lays a foundation for the subsequent virtual prototype design and modal prediction. Based on dynamic scale synthesis and engineering experience, the virtual prototype of Diamond mechanism is designed by commercial 3D solid modeling software, and the modal characteristics of the mechanism in different configurations are estimated by commercial finite element analysis software. Furthermore, the structure optimization method of the mechanism is proposed.
【學(xué)位授予單位】：天津大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH112

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本文編號(hào)：1886578