绳牵引动平台的八杆机构优化设计
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摘要
设计了一种新型绳牵引动平台。主要包括滚珠丝杠副牵引机构、液压结构、八杆机构、外箱体及其零部件。对于绳牵引动平台的八杆机构,通过相关要求进行尺寸计算,从而得出了各个杆的杆长,采用MATLAB编程的形式,对其尺寸参数进行了合理性校验和运动仿真,并应用Pro/E对其进行了建模。发现通过应用死点法可以提高支持系统的可靠性,通过MATLAB(这里主要应用了反复试数法),对绳牵引动平台的八杆机构参数进行了优化设计。
In this paper, a new kind of rope traction platform is designed, which mainly includes ball screw traction mechanism,hydraulic structure, eight-bar mechanism, outer box and its parts. For the eight-bar mechanism of the rope-driven platform, the size of each rod is calculated according to the relevant requirements, and the rod length of each rod is obtained. The dimensions of the bar are calibrated and simulated by MATLAB program and modeled by Pro/E. The main results show that the reliability of the support system can be improved by applying the dead point method, and through MATLAB(repeatedly used trial and error method here), the parameters of the eight-bar linkage mechanism of the rope traction platform are optimized.
In this paper, a new kind of rope traction platform is designed, which mainly includes ball screw traction mechanism,hydraulic structure, eight-bar mechanism, outer box and its parts. For the eight-bar mechanism of the rope-driven platform, the size of each rod is calculated according to the relevant requirements, and the rod length of each rod is obtained. The dimensions of the bar are calibrated and simulated by MATLAB program and modeled by Pro/E. The main results show that the reliability of the support system can be improved by applying the dead point method, and through MATLAB(repeatedly used trial and error method here), the parameters of the eight-bar linkage mechanism of the rope traction platform are optimized.
引文
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[5]李清桓,段清娟,李帆,等.绳牵引机器人加入弹簧后刚度分析[J].振动与冲击,2017,36(10):197-202,223.
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[7]李娜.振动触觉装置的改进设计及触觉感知特性研究[D].南京:东南大学,2016.
[8]王琰.一种六自由度力反馈装置的设计与研究[D].南京:南京航空航天大学,2016.
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[12]Pile J,Simaan N.Modeling,design,and evaluation of a parallel robot for cochlear implant surgery[J].IEEE-ASME Transactions on Mechatronics,2014,19(6):1746-1755.
[2]苏宇.绳牵引并联机器人的力学分析与性能优化[D].西安:西安电子科技大学,2014.
[3]吴文强,管贻生,朱海飞,等.面向任务的可重构模块化机器人构型设计[J].哈尔滨工业大学学报,2014,46(3):93-98.
[4]张忠海,李端玲.空间并联机构运动学分析的共形几何代数方法[J].农业机械学报,2015,46(4):325-330.
[5]李清桓,段清娟,李帆,等.绳牵引机器人加入弹簧后刚度分析[J].振动与冲击,2017,36(10):197-202,223.
[6]宋振东.考虑运动副间隙的平面并联机构动力学与控制研究[D].哈尔滨:哈尔滨工业大学,2017.
[7]李娜.振动触觉装置的改进设计及触觉感知特性研究[D].南京:东南大学,2016.
[8]王琰.一种六自由度力反馈装置的设计与研究[D].南京:南京航空航天大学,2016.
[9]李杰.大型六足仿生平台机器人机构设计及运动仿真[J].机械工程师,2014(10):178-180.
[10]Jiang J,Xie L,Yu H L,et al.Development of a six-dimensional sensor for minimally invasive robotic surgery[J].Journal of Mechanics in Medicine and Biology,2014,14(05):1-14.
[11]Bruckmann T,Pott A.Cable-driven parallel robots:mechanisms and machine science[M].Berlin:Springer,2013.
[12]Pile J,Simaan N.Modeling,design,and evaluation of a parallel robot for cochlear implant surgery[J].IEEE-ASME Transactions on Mechatronics,2014,19(6):1746-1755.