【作者】 周益林；

【导师】 方跃法；

【作者基本信息】 北京交通大学 ， 机械设计及理论， 2012， 硕士

【摘要】 本研究从解决传统运动模拟器转角、刚度有限的角度出发,提出一种冗余并联式运动模拟器解决该难题。其主要目的是充分利用冗余并联机构结构紧凑,刚度高,力矩传递性能好等优点。主要研究内容为：首先,提出了能满足运动模拟器姿态角变化的运动机构,即三转动冗余球面并联机构。对该冗余并联机构的结构、自由度、装配条件进行了分析。然后,对运动模拟器的运动学进行了分析,主要包括运动学正解、反解、速度以及加速度的分析。根据实例计算出运动学正反解结果,并绘制位置、速度、加速度的输入输出曲线。基于运动学反解对运动模拟器的运动结构进行了图形学仿真。仿真结果将为后续研究提供理论参考。接着对运动模拟器的工作性能进行了分析。考察了连杆的结构夹角对模拟器姿态工作空间的影响。建立整机干涉数学模型的,并考察杆件布置对干涉的影响。运用螺旋理论阐述模拟器奇异问题产生的原因,并在该理论基础上构造雅克比矩阵作为模拟器奇异判断的数学条件；利用条件数对模拟器的力矩传递性能进行了分析。基于以上分析结果对比冗余与非冗余的性能进行对比,并得出冗余对力矩传递性能有一定的提升且能减少模拟器的并联奇异。利用弹性力学及小变形理论建立运动模拟器整体静力学模型,得出各个关节的受力情况和各条支链的变形情况,并在此基础上构造运动模拟器的柔度矩阵,并得出输出平台中心点在受力时的变形情况。对比冗余与非冗余的刚度与受力性能,并得出冗余时动平台的广义位移较非冗余时的小,且关节处受力更均匀。最后建立运动模拟器的三维模型,并对运动模拟器运动学和轨迹规划进行了仿真。仿真结果基本与理论设计相吻合。总的来说本研究将为工程实际提供一定的理论参考价值。更多还原

【Abstract】 In order to improve the rotation angle and stiffness of traditional motion simulator, this thesis put forward a new kind of redundant parallel motion simulator with three rotational degreed. Redundancy parallel mechanism has many benefits,such as compact structure, high stiffness, good torque transmission ability. The main contents are as follows:Firstly, a new three rotational degree redundant spherical parallel mechanism as motion simulator is performed, and then the structure, degree, assembly condition are analyzed.Nest, the kinematics of motion simulator is analyzed, including forward kinematic, inverse kinematic, speed and acceleration analysis. And then the graphics simulation of motion simulator was studied which provide reference for the subsequent research.Then, the performance of the motion simulator are analyzed. Work space is obtained based on link angle. Mathematical model of interference is obtained through analysis the layout of the stem. By using screw theory the singular reason of motion simulator, and the Jacobian matrix was obtained. The ability of torque transmission is analyzed by using the index of Condition number. At last the different performance of redundancy and non-redundancy motion simulator is compared.After that, By using the theory of elasticity and small deformation, the statics model of motion simulator is built. The force and deformation of all joint and chain were derived. On the basis of statics model the generalized displacement and stiffness matrix of spherical center was deduced. The results show that redundant has better rigidity.Last,3D model of simulator is bulit and the kinematics and trajectory planning simulation are used to verify the theoretical design. The results of this research will provide theoretical basis for engineering practice.更多还原