【摘要】：變胞機(jī)構(gòu)是機(jī)構(gòu)學(xué)研究的一個(gè)新的領(lǐng)域,它的提出給機(jī)構(gòu)學(xué)帶來(lái)了新鮮空氣。變胞源機(jī)構(gòu)具有多個(gè)自由度,變胞機(jī)構(gòu)在運(yùn)動(dòng)過(guò)程中需要多個(gè)變胞副的約束來(lái)保證運(yùn)動(dòng)的確定性以及時(shí)序要求,而變胞副是通過(guò)約束兩構(gòu)件之間的阻力來(lái)實(shí)現(xiàn)作用的,所以有必要對(duì)多個(gè)變胞副之間阻力關(guān)系進(jìn)行研究,本文的主要研究?jī)?nèi)容包括： 首先,歸納了實(shí)現(xiàn)構(gòu)件在非主動(dòng)控制條件下實(shí)現(xiàn)合并與分離的方式,也就是變胞方式主要包括：力變胞,幾何變胞,組合變胞等。利用這幾類(lèi)的變胞方式,分別針對(duì)轉(zhuǎn)動(dòng)類(lèi)變胞副和移動(dòng)類(lèi)變胞副設(shè)計(jì)出多種變胞運(yùn)動(dòng)副,并分析了單個(gè)變胞副相對(duì)運(yùn)動(dòng)過(guò)程中阻力的變化趨勢(shì)。 其次,分別分析了兩個(gè)典型的變胞機(jī)構(gòu),2自由度5桿機(jī)構(gòu)和3自由度6桿機(jī)構(gòu)。通過(guò)變胞源機(jī)構(gòu)與各構(gòu)態(tài)機(jī)構(gòu)的拓?fù)鋱D分析,運(yùn)動(dòng)副運(yùn)動(dòng)狀況分析,得到構(gòu)態(tài)變換過(guò)程中多個(gè)變胞副阻力變化狀況,證明了變胞副阻力梯度的存在和阻力之間應(yīng)當(dāng)滿(mǎn)足的原則等,建立了一種阻力梯度的求解方法。每一個(gè)相對(duì)運(yùn)動(dòng)著的變胞副應(yīng)當(dāng)滿(mǎn)足最小阻力原則,并且在運(yùn)動(dòng)過(guò)程中其余變胞副的約束狀況不得發(fā)生改變,從而才能夠滿(mǎn)足任務(wù)時(shí)序要求和運(yùn)動(dòng)的確定性,為變胞機(jī)構(gòu)的設(shè)計(jì)工作打下基礎(chǔ)。 最后,基于前面得到的變胞副阻力梯度原則,對(duì)于一個(gè)已知的工作任務(wù),建立了一種變胞機(jī)構(gòu)的設(shè)計(jì)方法,并對(duì)設(shè)計(jì)方法進(jìn)行了實(shí)例驗(yàn)證和動(dòng)力學(xué)仿真驗(yàn)證。首先將工作任務(wù)進(jìn)行動(dòng)作分解,分解動(dòng)作能夠通過(guò)一類(lèi)基本機(jī)構(gòu)來(lái)實(shí)現(xiàn),所有分解動(dòng)作對(duì)應(yīng)的機(jī)構(gòu)就能夠組成一個(gè)方案組合,通過(guò)一系列的篩選和機(jī)構(gòu)的綜合,能夠得到變胞源機(jī)構(gòu)。通過(guò)運(yùn)動(dòng)副運(yùn)動(dòng),構(gòu)態(tài)轉(zhuǎn)換時(shí)序,變胞副類(lèi)型分析等,選擇到合適的變胞副,并使其滿(mǎn)足阻力梯度原則。針對(duì)板坯剪切機(jī)構(gòu),利用建立的設(shè)計(jì)方法設(shè)計(jì)出變胞機(jī)構(gòu),并進(jìn)行了動(dòng)力學(xué)仿真,驗(yàn)證了阻力梯度準(zhǔn)則的正確性和設(shè)計(jì)方法的可行性。
[Abstract]:Metamorphic mechanism is a new field of mechanism research, which brings fresh air to mechanism. The metamorphic mechanism has many degrees of freedom. In the process of motion, the metamorphic mechanism needs many constraints to ensure the certainty and timing of the motion, and the variable pair works by constraining the resistance between the two components. Therefore, it is necessary to study the resistance relationship between several metamorphic pairs. The main contents of this paper are as follows: firstly, the ways to realize the merging and separation of components under the condition of non-active control are summarized. That is, metamorphosis mainly includes: force cell, geometric cell, combinatorial metamorphosis and so on. Based on these metamorphic patterns, several metamorphic pairs are designed for rotational metamorphic pairs and mobile metamorphic pairs, and the variation trend of resistance in the relative motion of single metamorphic pair is analyzed. Secondly, two typical metamorphic mechanisms, 2 DOF 5 bar mechanism and 3 DOF 6 bar mechanism are analyzed respectively. By analyzing the topological diagram of the metamorphic mechanism and the mechanism of each structure, and analyzing the motion state of the motion pair, the change of the resistance of the mutual-cell pair in the process of the transformation of the structure state is obtained. It is proved that the existence of resistance gradient of metamorphic pair should be satisfied with the principle of resistance, and a method of solving resistance gradient is established. Each pair with relative motion should satisfy the principle of minimum resistance, and the constraint conditions of the remaining pairs should not be changed in the course of motion, so that the requirements of task timing and the certainty of movement can be satisfied. It lays a foundation for the design of metamorphic mechanism. Finally, based on the principle of resistance gradient of metamorphic pair, a design method of metamorphic mechanism is established for a known task, and the design method is verified by example and dynamic simulation. First of all, the task can be decomposed into action, which can be realized by a kind of basic mechanism. All the mechanisms corresponding to the decomposition actions can form a scheme combination, through a series of screening and mechanism synthesis. The metamorphic source mechanism can be obtained. The suitable metamorphic pair was selected through kinematic pair motion, structural transformation time series, metamorphic pair type analysis and so on, and the resistance gradient principle was satisfied. According to the slab shear mechanism, the variable cell mechanism is designed by using the established design method, and the dynamic simulation is carried out to verify the correctness of the resistance gradient criterion and the feasibility of the design method.
【學(xué)位授予單位】：東北大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類(lèi)號(hào)】：TH112

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