本文選題：動力學　切入點：有限元分析　出處：《天津大學》2014年碩士論文　論文類型：學位論文

【摘要】：針對耳石癥(眩暈癥)的自動化治療以及航天員和飛行員對前庭功能的檢測和訓練的需求,在前人所設計的環(huán)形方案的基礎上,提出了一種新型的4自由度機構,該機構可以實現(xiàn)人的頭部在空間上的三維運動,滿足運動需求。本文主要研究的內容如下:在機構的結構上設計了三個轉動副和一個移動副,相鄰轉動副在空間上是垂直且相交的,移動副在機構末端,可實現(xiàn)沿動平臺垂直方向的移動,這樣的設計可以提高旋轉座椅在空間運動的靈活性;將機構中的旋轉框架1設計為類橢圓形,降低了裝置的空間占用量;為滿足不同人使用,將旋轉座椅設計為空間大小可調式的。利用Grubler-Kutzbach公式計算了機構的自由度;借助D-H方法建立了機構在初始狀態(tài)下的運動學正逆解解析模型;利用該模型中的位姿矩陣,構造機構速度雅克比矩陣;運用拉格朗日動力學公式建立了機構的動力學模型;最后,在以上基礎上,通過算例分析了動平臺位姿,速度以及驅動轉矩等的變化規(guī)律。利用Matlab和Adams軟件對機構進行運動學和動力學計算和仿真,做出相應的運動圖像;將Matlab中的函數(shù)圖像與Adams中的仿真圖像進行對比,驗證推導公式的正確性。運動學和動力學模型為后期系統(tǒng)控制提供了可靠的運動參數(shù)。針對機構的結構特點,建立了有限元分析模型。根據(jù)實際工作情況,對模型剛度最差的的位姿進行了靜力分析;對模型進行了模態(tài)分析,提取了前四階固有頻率及振型圖。根據(jù)靜力學和模態(tài)分析的結果對旋轉框架進行了多目標多尺寸的優(yōu)化設計。對優(yōu)化后的模型再次進行有限元分析,結果表明優(yōu)化后的結構其靜動態(tài)特性有了明顯的改善。利用西門子S7-300PLC對三個伺服電機進行控制,并將控制集成在觸摸屏操作面板上,實現(xiàn)裝置運行的自動化。以上研究內容為進一步開展對此裝置的細化研究奠定了理論基礎。
[Abstract]:In view of the automatic treatment of otolithiasis (vertigo) and the need for the detection and training of vestibular function by astronauts and pilots, a new four-degree-of-freedom mechanism was proposed on the basis of the annular scheme designed by the predecessors. This mechanism can realize the three-dimensional movement of human head in space and meet the need of motion. The main contents of this paper are as follows: in the structure of the mechanism, three rotating pairs and one moving pair are designed. The adjacent rotating pair is vertical and intersected in space, and the moving pair is at the end of the mechanism, which can move along the vertical direction of the moving platform. This design can improve the flexibility of the rotating seat in the space motion. The rotating frame 1 in the mechanism is designed as a kind of ellipsoid, which reduces the space consumption of the device, and the rotating seat is designed as a space adjustable type to satisfy different people's use. The degree of freedom of the mechanism is calculated by using the Grubler-Kutzbach formula. Based on D-H method, an analytical model of kinematics forward and inverse solution of mechanism in initial state is established, a velocity Jacobian matrix is constructed by using the pose matrix of the model, and a dynamic model of mechanism is established by using Lagrangian dynamic formula. Finally, on the basis of the above, the changing law of the position, velocity and driving torque of the moving platform is analyzed through an example. The kinematics and dynamics of the mechanism are calculated and simulated by using Matlab and Adams software, and the corresponding motion images are made. The function image in Matlab is compared with the simulation image in Adams to verify the correctness of the derived formula. Kinematics and dynamics model provide reliable motion parameters for later system control. The finite element analysis model is established. According to the actual working conditions, the static analysis of the position and pose of the model with the worst stiffness is carried out, and the modal analysis of the model is carried out. The first four natural frequencies and mode shapes were extracted. The multi-objective and multi-dimension optimization design of the rotating frame was carried out according to the results of static and modal analysis. The optimized model was analyzed again by finite element method. The results show that the static and dynamic characteristics of the optimized structure have been improved obviously. Siemens S7-300 PLC is used to control the three servo motors, and the control is integrated on the touch screen operating panel. The above research contents lay a theoretical foundation for further detailed research on the device.
【學位授予單位】：天津大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：R764;R496

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本文編號：1620196