可约并联机构设计理论与方法研究
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摘要
耦合广泛存在于各个系统中,是产生矛盾冲突的根本原因。对于并联机构来说,机构中各个运动、各项性能的强耦合性使得机构综合、尺寸设计、性能提高以及控制的设计变得非常复杂。本课题针对并联机构的强耦合性问题,提出了研究运动解耦的并联机构的设计方法。主要研究内容为:
(1)回顾并联机构的研究现状和应用,对现有并联机构构型设计和设计方法进行了总结,分析在机构综合和设计方面取得的成果和存在的缺陷。论述了本文研究的运动解耦并联机构的意义和具体内容。
(2)讨论了可约系统的原理,提出了一般可约系统的概念,针对本文中研究的并联机构,定义了可约并联机构,分别将运动和受力可约进行了分类。
(3)定义并证明三自由度可约移动并联机构的判定充分必要条件,研究三自由度可约移动并联机构的型综合问题,建立了新的坐标参数,综合新的三自由度可约移动并联机构。研究机构可约性和机构布局的关系。
(4)根据三自由度可约移动并联机构的驱动方式,将它们分为两类,分别对他们的各个运动性能指标进行了分析,讨论了它们的优点和不足。
(5)按照驱动方式将机构分类,分别分析了两类机构的静力性能。建立了每个机构的受力和刚度模型。
(6)在考虑工作空间基础上对机构进行了优化设计,利用机构在结构、运动、干涉等方面的相互关系,建立起机构的各个构件的参数同驱动参数的关系。
(7)以机构的整体刚度为基础进行尺寸设计,分析机构提高刚度性能的方法。
Coupling, which exists in almost every system, is the essential reason of conflict.For the parallel mechanisms, the coupling of various motions, every performance indicesmakes the type synthesis, dimensional design, performance increasing and control systemdesign very complicated. This thesis aiming at the coupling problems of parallelmechanisms, the type design methods of parallel mechanisms whose motions aredecoupled will be proposed. The main content includes:
(1) The research and applications of parallel mechanisms are reviewed. The existedtype synthesis and design methods of parallel mechanisms are summarize and theproblems in them are also presented. The significances and main work of the research onreducible parallel mechanisms are proposed.
(2) The definition of general reducible system is presented. The conception of thereducible parallel mechanisms is presented. The reducible character of the motion andstatic functions of parallel mechanism are classified.
(3) The determinate condition for 3-DOF reducible translational parallelmechanisms are defined and proved. A new coordinate is given and the type synthesismethod of 3-DOF reducible translational parallel mechanisms is presented. Some parallelmechanisms are synthesized by the method. The relationship between the reducibility ofthe mechanism and the configuration of the limbs is discussed.
(4) The reducible mechanisms are grouped into two classes according to theirdriving methods. The motion performances are discussed. The excellences anddisadvantages of the mechanisms are discussed.
(5) The static indexes of the two groups of reducible mechanisms are discussedrespectively. The stiffness model of each mechanism is set up.
(6) An optimum design is carried through based on the workspace. The parametricrelationship between the dimensions of components and the driving parameters are set upby investigating the structural, motional and interference of the parameters. Theparametric optimum design reduces the numbers of the design parameters.
(7) The optimum design is carried through based on the stiffness. The methods toincrease the stiffness are also proposed.
(1)回顾并联机构的研究现状和应用,对现有并联机构构型设计和设计方法进行了总结,分析在机构综合和设计方面取得的成果和存在的缺陷。论述了本文研究的运动解耦并联机构的意义和具体内容。
(2)讨论了可约系统的原理,提出了一般可约系统的概念,针对本文中研究的并联机构,定义了可约并联机构,分别将运动和受力可约进行了分类。
(3)定义并证明三自由度可约移动并联机构的判定充分必要条件,研究三自由度可约移动并联机构的型综合问题,建立了新的坐标参数,综合新的三自由度可约移动并联机构。研究机构可约性和机构布局的关系。
(4)根据三自由度可约移动并联机构的驱动方式,将它们分为两类,分别对他们的各个运动性能指标进行了分析,讨论了它们的优点和不足。
(5)按照驱动方式将机构分类,分别分析了两类机构的静力性能。建立了每个机构的受力和刚度模型。
(6)在考虑工作空间基础上对机构进行了优化设计,利用机构在结构、运动、干涉等方面的相互关系,建立起机构的各个构件的参数同驱动参数的关系。
(7)以机构的整体刚度为基础进行尺寸设计,分析机构提高刚度性能的方法。
Coupling, which exists in almost every system, is the essential reason of conflict.For the parallel mechanisms, the coupling of various motions, every performance indicesmakes the type synthesis, dimensional design, performance increasing and control systemdesign very complicated. This thesis aiming at the coupling problems of parallelmechanisms, the type design methods of parallel mechanisms whose motions aredecoupled will be proposed. The main content includes:
(1) The research and applications of parallel mechanisms are reviewed. The existedtype synthesis and design methods of parallel mechanisms are summarize and theproblems in them are also presented. The significances and main work of the research onreducible parallel mechanisms are proposed.
(2) The definition of general reducible system is presented. The conception of thereducible parallel mechanisms is presented. The reducible character of the motion andstatic functions of parallel mechanism are classified.
(3) The determinate condition for 3-DOF reducible translational parallelmechanisms are defined and proved. A new coordinate is given and the type synthesismethod of 3-DOF reducible translational parallel mechanisms is presented. Some parallelmechanisms are synthesized by the method. The relationship between the reducibility ofthe mechanism and the configuration of the limbs is discussed.
(4) The reducible mechanisms are grouped into two classes according to theirdriving methods. The motion performances are discussed. The excellences anddisadvantages of the mechanisms are discussed.
(5) The static indexes of the two groups of reducible mechanisms are discussedrespectively. The stiffness model of each mechanism is set up.
(6) An optimum design is carried through based on the workspace. The parametricrelationship between the dimensions of components and the driving parameters are set upby investigating the structural, motional and interference of the parameters. Theparametric optimum design reduces the numbers of the design parameters.
(7) The optimum design is carried through based on the stiffness. The methods toincrease the stiffness are also proposed.
引文
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