發(fā)布時(shí)間：2018-06-21 07:33

  本文選題：Stewart并聯(lián)機(jī)構(gòu) + 高頻試驗(yàn)臺(tái)結(jié)構(gòu)　； 參考：《哈爾濱工業(yè)大學(xué)》2012年碩士論文

【摘要】：Stewart并聯(lián)機(jī)構(gòu)由于其剛度大、承載能力強(qiáng)、精度高等優(yōu)點(diǎn)在現(xiàn)代工業(yè)中得到廣泛應(yīng)用，液壓驅(qū)動(dòng)的Stewart并聯(lián)機(jī)構(gòu)與串聯(lián)機(jī)構(gòu)相比優(yōu)勢(shì)很多，但頻率較低，限制了其在有高頻需求的行業(yè)中的應(yīng)用。 本文研究的高頻試驗(yàn)臺(tái)結(jié)構(gòu)能夠克服Stewart并聯(lián)機(jī)構(gòu)頻率低的缺點(diǎn)，使試驗(yàn)臺(tái)能夠達(dá)到較高的頻率，滿(mǎn)足某些系統(tǒng)的高頻要求。 本文首先介紹了高頻試驗(yàn)臺(tái)的結(jié)構(gòu)進(jìn)行，了解其結(jié)構(gòu)特點(diǎn)，，確定機(jī)構(gòu)參數(shù)。在機(jī)構(gòu)分析的基礎(chǔ)上進(jìn)行運(yùn)動(dòng)學(xué)分析，求解液壓缸的位置反解和正解、速度和加速度，得到了上平臺(tái)的廣義速度與液壓缸速度之間的Jacobian矩陣，為進(jìn)行動(dòng)力學(xué)分析打下了基礎(chǔ)。 本文采用簡(jiǎn)潔高效的Kane方法建立動(dòng)力學(xué)模型。首先根據(jù)構(gòu)件之間的運(yùn)動(dòng)關(guān)系求得了各個(gè)運(yùn)動(dòng)構(gòu)件的Jacobian矩陣，然后得到了運(yùn)動(dòng)構(gòu)件的速度對(duì)于廣義速度的偏速度和偏角速度，這是求解Kane方程的基礎(chǔ)。然后得出主動(dòng)力和慣性力在廣義速度方向上的廣義主動(dòng)力和廣義慣性力，最后根據(jù)Kane方程得出多體系統(tǒng)動(dòng)力學(xué)方程。編寫(xiě)了M程序進(jìn)行多剛體系統(tǒng)動(dòng)力學(xué)的運(yùn)算。 在ADAMS仿真軟件中建立機(jī)構(gòu)的參數(shù)化模型，進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)的仿真，并與理論分析的結(jié)果進(jìn)行對(duì)比，驗(yàn)證了模型和理論分析的可靠性。 最后對(duì)機(jī)構(gòu)的工作空間和奇異性進(jìn)行分析，得到了定姿態(tài)位置空間和定位置姿態(tài)空間，為機(jī)構(gòu)的設(shè)計(jì)提供了基礎(chǔ)。同時(shí)也對(duì)剛度和固有頻率進(jìn)行了分析，更進(jìn)一步的了解了結(jié)構(gòu)的性能。
[Abstract]:Stewart parallel mechanism has been widely used in modern industry because of its large stiffness, strong bearing capacity and high precision. The hydraulic driven Stewart parallel mechanism has many advantages over series mechanism, but its frequency is low. It limits its application in industries with high frequency demand. The structure of the high frequency test-bed studied in this paper can overcome the shortcoming of low frequency of Stewart parallel mechanism, make the test bed achieve higher frequency and meet the high frequency requirement of some systems. In this paper, the structure of the high-frequency test rig is introduced, and the structure characteristics are understood, and the mechanism parameters are determined. The kinematics analysis is carried out on the basis of mechanism analysis, and the position inverse solution and positive solution, velocity and acceleration of the hydraulic cylinder are solved, and the Jacobian matrix between the generalized velocity and the cylinder velocity of the upper platform is obtained, which lays the foundation for the dynamic analysis. In this paper, a simple and efficient Kane method is used to establish the kinetic model. Firstly, the Jacobian matrix of each moving component is obtained according to the motion relation between the components, and then the partial velocity and angular velocity of the moving component to the generalized velocity are obtained, which is the basis of solving the Kane equation. Then the generalized principal force and generalized inertial force in the direction of generalized velocity are obtained. Finally, the dynamic equation of multi-body system is obtained according to Kane equation. The M program is written to calculate the dynamics of multi rigid body system. The parameterized model of the mechanism was established in Adams simulation software, and the kinematics and dynamics were simulated. The reliability of the model and the theoretical analysis was verified by comparing the results with the results of theoretical analysis. Finally, the workspace and singularity of the mechanism are analyzed, and the fixed attitude space and the fixed position attitude space are obtained, which provides the basis for the design of the mechanism. At the same time, the stiffness and natural frequency are analyzed, and the performance of the structure is further understood.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類(lèi)號(hào)】：TH112

【參考文獻(xiàn)】

相關(guān)期刊論文 前3條

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2 張建政;劉偉;高峰;;6-PSS并聯(lián)機(jī)器人動(dòng)力學(xué)模型的牛頓—?dú)W拉方法[J];機(jī)械設(shè)計(jì)與研究;2007年03期

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本文編號(hào)：2047753