【作者】 刘伟；

【导师】 高峰；

【作者基本信息】 河北工业大学 ， 机械制造及其自动化， 2004， 硕士

【摘要】 地震模拟器系统是地震工程研究工作中的重要试验设备之一。并联结构的振动台具有刚度大、对称性好、速度高、机构紧凑、动力学性能好等优点。本文提出一种应用于地震模拟器的具有3-2-1结构的冗余驱动并联机构，并对此机构的构型、运动学、静力学、工作空间、空间模型等方面进行了比较全面的研究，具体内容为： 1．建立了机构的位置反解方程，并利用对反解方程进行求导的方法，得到了机构的逆雅可比矩阵J^-1的解析表达式，这个表达式是分析机构各种性能指标的基础。 2．在机构位置反解和速度雅可比矩阵的基础上，利用数值迭代的方法对机构进行了正解求解，每次可以求得机构的一组正解。 3．建立了机构的静力学模型，得到了力与力矩传递矩阵G的解析表达式，并根据虚功原理导出了G与J的关系：G=（J^T）^-1。 4．建立了机构的空间模型，为今后的优化设计奠定了基础。 5．用解析和数值两种方法对机构的工作空间进行了详细的分析，得到在z=860附近可达工作空间截面积最大，在z=807附近灵活工作空间截面积最大。 6．利用机构的空间模型，分析了机构工作空间的大小与其结构参数的关系，得到了为获得最大工作空间r₁、r₂、r₃、r₄的最佳取值。更多还原

【Abstract】 The earthquake simulator is one of the most important test equipment in the research of the earthquake engineering. The earthquake simulator with parallel structure shows several advantages, such as, higher stiffness, better symmetry, higher velocity, better dynamics and compact structure. In this dissertation, a new redundant activate parallel mechanism with 3-2-1 structure applied in the earthquake simulator is presented and studied in many fields, such as structure, kinematics, statics, workspace, physical model of the solution space and so on.1. Drive the inverse position equation. Based on the differentiation to the inverse position equation, we get the analytic expression of the inverse jacobian matrix’ J-1’, the expression is the foundation of the research in many performance indexes.2. Based on the inverse position equation and the jacobian matrix, the solution of direct position is obtained through the numerical iteration method.3. The statics equation and the force/moment transmission matrix ’G’ are obtained, then base on the principle of virtual work, the relationship between the two matrix ’G’ and ’J’ is obtained.4. The physical model of the solution space are established and that grounds the foundation for the optimum design.5. Detailed analysis in workspace is made by two means: numerical and analytic method. The conclusion is: The sectional view of reachable workspace reach its maximum area when z = 860, The sectional view of dexterous workspace reach its maximum area when z = 807.6. Based on the physical model of the solution space, analyze the relationship between the workspace and the parameters of the manipulator, the optimal value of the parameters is obtained.更多还原