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基于POC集的无过约束并联机构的设计及其应用

作者:完美论文网  来源:www.wmlunwen.com  发布时间:2019/11/1 9:20:06  

摘要:少自由度并联机械手具有结构紧凑、设计制造容易、控制成本低等特点而得到了广泛应用。目前大多数少自由度并联机构因其含有过约束,存在形位误差敏感、运动副反力增大、机械效率下降、振动和噪声增大等缺陷,影响了机构的实际应用。

无过约束构型由于在一定的安装误差范围内可以减小甚至消除误差对机构运动性能的影响,从而改善机构对误差的自适应性,提高了机构的动力学性能。针对这已现状,本文基于方位特征集(POC集)的并联机构拓扑结构设计理论与方法,对无过约束构型设计方法进行了系统研究,为少自由度无过约束并联机构的构型综合提供了一种新的思路和创新方法。

首先,基于POC方法的型综合基本理论,分析了动平台POC集,支链POC集以及基本回路独立位移方程数三者之间的关系,确定了无过约束并联机构构型的存在条件,给出了无过约束并联机构型综合的方法和步骤。

其次,分别对2种五自由度、3种四自由度以及4种三自由度无过约束并联机构进行了构型综合,并按照支链类型及其对动平台提供的约束数目,对综合出的无过约束并联机构进行了拓扑结构特性分析。

最后,针对综合出的四自由度 3T1R无过约束新机型,优选出一种进行运动学分析,通过Pro/E三维建模以及运动模拟,利用Matlab软件编程,讨论了支链装配对机构工作空间以及奇异位形的影响。

Less DOC parallel manipulator(PM) has beenwidely used because of its compact structure,easy design and manufacture, lowcontrol cost, etc. At present, most of the PM have defects (sensitivity toshape and position error, increased reaction deputy campaign, decline inmechanical efficiency, vibration and noise increase, etc), and affect thepractical application of the organization.

Non-over constraint PM can reduce oreliminate the influence of error on machine motion performance within a certainrange of installation errors, thus improve machine of self-adaptability errorand dynamic performance. For this situation, this paper is based on designtheory and method of parallel machine topology of POC set, and does asystematic study of the design method of the non-over constraint, provides an advanceof thinking and innovation for less freedom non-over constraint PM.

First, it analyzes the relationship amongthe POC set of the moving platform, branched chain POC set and basic circuitindependent displacement equation number, confirms the existing conditions ofnon-over constraint parallel mechanism and provides comprehensive methods andprocedures of configuration by basic theory of type synthesis of POC method.

Secondly, it analyzes syntheticallynon-over constraint PM topological structure characteristic with two kinds of 5DOF, three kinds of 4 DOF and four kinds of 3 DOF type synthesis, and accordingto the type of branched chain and the number of constraints provided to themoving platform.

Finally, according to 4 DOF 3T1R non-overconstraint new model, it elects for optimization one for kinematics analysisand discusses the influence of branched chain assembly on the working space andsingular configuration of the machine by Pro/E 3D modeling and motionsimulation and makes use of Matlab software programming.

关键词:少自由度;并联机构;无过约束;构型综合;工作空间

lower-mobility; Parallel manipulator;Non-over constraint;

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