平面连杆机构自调结构分析与综合
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摘要
机电产品的设计都是为了满足某种特定的功能要求,而这些功能要求往往是通过机构的动作来实现的。在众多的机构中,连杆机构是机构与机器理论中的最重要的基本机构之一,同时也可视为其他基本机构理论结构原形,所以在机构学理论与方法的研究过程中,通常首先以连杆机构作为研究对象。平面连杆机构一般均是应用V级低副连接形成具有封闭回路的结构,因而其约束也最具强制性。其约束结构的超静定性以及对制造、安装和环境等误差与变化的敏感,在平面闭链机构中都具有典型的意义。本论文在前人研究的基础上,利用新的数学方法和先进的数值仿真技术,对过约束机构及自调结构的分析与设计进行更深入、系统的研究、验证和工程应用实践。
本文利用空间角度转换理论确定了机构形位误差对机构产生的影响程度,即影响度,并对其进行量化。分析方法相对于前人的方法来讲更加直观,简洁明了,避免了大量的矩阵运算,本文中的数学方法计算出的角度误差的表达方式更加简化,减少了由于运算带来的计算过程中误差的累计。并利用基于ADAMS的虚拟样机技术对曲柄摇杆机构中B铰链存在的4种单因素误差产生的影响度进行了实验验证,由实验结果分析验证了理论分析的正确性。为了分析铰链在存在形位误差的情形下铰链中接触应力的分布情况,利用ANSYS有限元分析工具,通过对B铰链存在的四种可能出现的形位误差造成在装配过程中产生的接触应力的分析,真实的反映了铰链接触应力的分布情况,从而由宏观的力分析进入微观的应力分析,这也是前人没有涉及过的。并结合工程实际,在对新型恒脉动机械式无级变速器主传动机构进行过约束分析的基础上,对该系统进行了消除或减小过约束及其影响的自调结构的创新设计,并在基于ADAMS的虚拟样机软件中进行了建模和仿真,将自调前后的机构进行了比较,在负载一定的情况下,对样机的输入功率及机架震动力进行了分析,分析结果表明,设计方法是正确的、有效的。
本文的工作,丰富了机构结构设计理论,完善了自调结构设计理论,进一步推进了平面约束不确定性的影响分析及自调结构的分析、设计理论与方法的研究,以及自调机构系统的工程应用,具有普遍的指导意义和重要的应用价值。
The design of mechanical and electrical production is to satisfy some special function, but these functions are often realized by the action of mechanism. Planar linkage mechanism is the most important one among the numerous mechanisms and can also be regarded as the theoretical structure model of all other basic mechanisms, thus the linkage mechanism is often researched at first in the process of the study of mechanical theory and methods. Planar linkage mechanisms are often obturated by lower.pair, so the constraint is also forcible. Its redundant structure and the sensitivity to the error of manufacturing, assembly error and environment, are very typical in planar linkage mechanism. Based on the research of other people, the new math method and advanced numerical simulating technology are used in this paper. The analysis and design of over.constraint mechanism and self.adjustable mechanism are more systemically researched, validated and applied in engineering practice.
The degree of influence caused by the Fig.ure and position error to mechanism is confirmed and quantitated in this paper by the theory of spacial angles conversion. Compared to prevenient methods, the analysis method is more concise. It avoids abundant matrix calculation. The expression of angle error is more concise. The accumulation of calculation error is reduced. The virtual prototype technology(based on ADAMS) is used to validate the degree of influence. The four single errors exist in joint B in crank.rocker mechanism. The result indicates that the theory analysis is correct. In order to analyze the distribution of contact stress in joints, the ANSYS finite element tool is used. The situation of four single errors in joint B is analyzed. The distribution of contact stress is actually reflected. The microcosmic stress analysis is referred. In this paper, combined with engineering practice, by analyzing for over.constraints of transmission mechanism in a impulse variable speed device, the creative design of the mechanism was completed in order to eliminate or decrease the over.constraints in the mechanism. The ADAMS software is used to model and simulate. Compared the self.adjustable mechanism and former mechanism, the input power curve and vibration force curve is better than before. The analysis result indicates that the design method is correct and efficient.
The work in this paper makes mechanical structure design theory more abundant. The self.adjustable structure design theory is more consummate. The analysis of
本文利用空间角度转换理论确定了机构形位误差对机构产生的影响程度,即影响度,并对其进行量化。分析方法相对于前人的方法来讲更加直观,简洁明了,避免了大量的矩阵运算,本文中的数学方法计算出的角度误差的表达方式更加简化,减少了由于运算带来的计算过程中误差的累计。并利用基于ADAMS的虚拟样机技术对曲柄摇杆机构中B铰链存在的4种单因素误差产生的影响度进行了实验验证,由实验结果分析验证了理论分析的正确性。为了分析铰链在存在形位误差的情形下铰链中接触应力的分布情况,利用ANSYS有限元分析工具,通过对B铰链存在的四种可能出现的形位误差造成在装配过程中产生的接触应力的分析,真实的反映了铰链接触应力的分布情况,从而由宏观的力分析进入微观的应力分析,这也是前人没有涉及过的。并结合工程实际,在对新型恒脉动机械式无级变速器主传动机构进行过约束分析的基础上,对该系统进行了消除或减小过约束及其影响的自调结构的创新设计,并在基于ADAMS的虚拟样机软件中进行了建模和仿真,将自调前后的机构进行了比较,在负载一定的情况下,对样机的输入功率及机架震动力进行了分析,分析结果表明,设计方法是正确的、有效的。
本文的工作,丰富了机构结构设计理论,完善了自调结构设计理论,进一步推进了平面约束不确定性的影响分析及自调结构的分析、设计理论与方法的研究,以及自调机构系统的工程应用,具有普遍的指导意义和重要的应用价值。
The design of mechanical and electrical production is to satisfy some special function, but these functions are often realized by the action of mechanism. Planar linkage mechanism is the most important one among the numerous mechanisms and can also be regarded as the theoretical structure model of all other basic mechanisms, thus the linkage mechanism is often researched at first in the process of the study of mechanical theory and methods. Planar linkage mechanisms are often obturated by lower.pair, so the constraint is also forcible. Its redundant structure and the sensitivity to the error of manufacturing, assembly error and environment, are very typical in planar linkage mechanism. Based on the research of other people, the new math method and advanced numerical simulating technology are used in this paper. The analysis and design of over.constraint mechanism and self.adjustable mechanism are more systemically researched, validated and applied in engineering practice.
The degree of influence caused by the Fig.ure and position error to mechanism is confirmed and quantitated in this paper by the theory of spacial angles conversion. Compared to prevenient methods, the analysis method is more concise. It avoids abundant matrix calculation. The expression of angle error is more concise. The accumulation of calculation error is reduced. The virtual prototype technology(based on ADAMS) is used to validate the degree of influence. The four single errors exist in joint B in crank.rocker mechanism. The result indicates that the theory analysis is correct. In order to analyze the distribution of contact stress in joints, the ANSYS finite element tool is used. The situation of four single errors in joint B is analyzed. The distribution of contact stress is actually reflected. The microcosmic stress analysis is referred. In this paper, combined with engineering practice, by analyzing for over.constraints of transmission mechanism in a impulse variable speed device, the creative design of the mechanism was completed in order to eliminate or decrease the over.constraints in the mechanism. The ADAMS software is used to model and simulate. Compared the self.adjustable mechanism and former mechanism, the input power curve and vibration force curve is better than before. The analysis result indicates that the design method is correct and efficient.
The work in this paper makes mechanical structure design theory more abundant. The self.adjustable structure design theory is more consummate. The analysis of
引文
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[3] 曹惟庆等. 连杆机构的分析与综合[M]. 北京:科学出版社. 2001.
[4] 黄茂林, 秦伟. 机械原理[M]. 北京:机械工业出版社. 2002.
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[6] 李太福等. 误差对平面滑块机构运动特性的影响研究. 机床与液压. No.3. 2002.
[7] 张策. 机械动力学. 北京:高等教育出版社. 2000 .
[8] 孙桓, 傅则绍, 机械原理. 北京:高等教育出版社. 1989.
[9] 秦伟. 基于约束的自调机械结构理论与工程设计研究 [D] . 重庆大学. 1999.
[10] 林军. 基于高效的双输出函数脉冲发生机构的运动—动力学综合[博士学位论文]. 重庆:重庆大学. 2002.
[11] 安培文. 平面连杆机构的过约束及自调结构分析与设计研究[D]. 重庆大学博士学位论文. 2003 .
[12] 张策. 黄永强等著. 弹性连杆机构的分析与设计. 北京:机械工业出版社. 1997.
[13] 阿瑟. G.厄尔德曼等著, 庄细荣等译. 机构设计-分析与综合(第一卷). 高等教育出版社. 1993.
[14] 阿瑟. G.厄尔德曼等著, 庄细荣等译. 机构设计-分析与综合(第二卷). 高等教育出版社. 1993.
[15] 黄纯颖. 机械创新设计[M]. 北京:高等教育出版社. 2002
[16] 靳春梅, 邱阳等. 含间隙机构动态特性分析. 机械科学与技术. 2001. 20(5):665～669
[17] 石则昌, 刘深厚编著. 机械动力学. 北京:高等教育出版社. 1995.
[18] 刘文. 具有运动副间隙的机构动力学研究. 机械工程学报. 1988. 24(2):48～56.
[19] 宋黎, 杨坚. 考虑间隙移动副碰撞影响的一种动力学分析方法. 机械设计与研究. 2001. 17(2):36～37.
[20] 安培文, 黄茂林.平面连杆机构的自调及其允差的分析研究[J]. 机械工程学报. 2002. No.23:2040~2044.
[21] 张春林, 曲继方等编著. 机械创新设计. 北京:机械工业出版社. 1999.
[22] 秦伟, 黄茂林. 间隙和接触尺寸对运动副自由度影响的研究. 机械设计. 2002. 19(12):35～36.
[23] 李哲. 动力机构及其应用. 机械工程学报. 1995. 31:57~60.
[24] 俞武勇, 季林红等. 含间隙机构运动副的动力学模型. 机械科学与技术. 2001.20(5):665～669.
[25] 安培文, 黄茂林. 无过约束自调机构允差分析的一种精确方法. 重庆大学学报. 2003. 26(1):1～3.
[26] 郑建荣编著. ADAMS——虚拟样机技术入门与提高. 北京:机械工业出版社. 2001.
[27] 李军等编著. ADAMS 实例教程. 北京:机械工业出版社. 2001.
[28] 杨基厚编著. 机构运动学与动力学. 机械工业出版社. 1987.
[29] 董军, 黄清世. 具有虚约束的平行四边形机构的受力分析. 江汉石油学院学报. 1991. 13(3):64～71.
[30] 李军. 陶永忠译. MSC.ADAMS FSP 基础教程.清华大学出版社.2004.
[31] 刑俊文. 陶永忠译. MSC.ADAMS FSP 高级培训教程.清华大学出版社.2004.
[32] Howell L L and Midha A. A Loop.Closure Theory for the Analysis and Synthesis of Complaint Mechanisms. Transactions of MCSE, 1996, 118(3):121~125.
[33] Mavroids, C., Roth, B., Analysis of Overconstrained Mechanisms, ASME Journal of Mechanical Design, 117(3): 69.74, 1995.
[34] Bagci, C., Determining General and Overclosing Constraints in Mechanism Mobility Using Structural Finite Element Joint Freedom, ASME Journal of Mechanical Design, 114(9): 376.383,1992.
[35] V.P.AGRAWAL and J.S.RAO.Identification And Isomorphism of Kinematics Chains And Mechanisms[J]. M.M.T. 1989. Vol.24, No.4.
[36] ERDMAN A, et al. Type and Dimensional Synthesis of Casement Windows Mechanism. ASME Paper,1980(80):78.
[37] Freudenstein F, Maki E R. Development of an Optimum Variable.Stroke Internal. Combus- tion Engine Mechanism From the Viewpoint of Kinematic Structure. Trans. ASME J. of Mech. And Auto. in Design,1983,105.
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