【作者】 金宇；

【导师】 姚智慧；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2007， 硕士

【摘要】 六自由度摇摆台是基于空间并联机构Stewart平台原理开发的,具有结构刚度大、承载能力强、无累积误差、运动精度高、系统的动态响应快等特点,它是集机械、电控、传感器,空间运动数学模型、实时信号传输处理、图形显示、测量和计算机于一体的能够模拟摇摆运动的大型物理仿真试验设备。已在诸如机器人、飞行模拟器、新型机床、大射电望远镜、航空宇航器对接等领域获得了广泛应用,是近年来国内外研究的热点之一。本文根据六自由度电动摇摆台的功能和技术要求对摇摆台进行总体设计。对电动摇摆台的机械本体结构进行具体设计和研究,其中主要对关键件上平台、虎克铰、球铰进行结构设计,运动学与动力学仿真,并进行结构优化改进,最后得到满足要求的结构。运用三维建模技术在Pro/E中建立了六自由度电动摇摆台的三维实体模型,并对模型进行质量、间隙和干涉检测,验证总体结构设计的正确性与合理性,为摇摆台的运动学和动力学仿真提供正确的虚拟样机模型。应用ADAMS进行运动学和动力学仿真,检测运动干涉,并且得到摇摆台的运动情况和驱动力情况。应用ANSYS对摇摆台的关键件上平台、虎克铰、球铰进行有限元分析,包括静力分析、动力分析及模态分析,根据分析结果对设计的关键件进行结构的优化,确保摇摆台结构部件满足刚度和强度要求。最后应用ADAMS对摇摆台进行运动学仿真,验证设计的合理性。更多还原

【Abstract】 The six degrees of freedom swaying platform which based on the parallel mechanism, with many advantages of good rigidity, large bearing capacity, high precision, fast system dynamic response, without accumulative error, etc. It is composed of mechanical construction, electric control, sensor, space motion mathematical models, real-time signal transmission and processing, graphical display, measurement and computer. So it is widely used to in these fields, such as, robot, flight simulator, new type machine, large radio telescope, astronatics docking. It is the hotspot in the field of mechanism study in recent years.This paper design the collectivity of electric six degrees of freedom swaying platform, based on demand of function and technique. Design and study the mechanical construction of electric swaying platform in detail. Especially, design the key parts, such as up-platform, hooke joint, spherical joint, and simulate kinematics and dynamics, then optimize the design, finally, get the construction satisfying the demand.With triaxiality modeling technique establish the triaxiality physical model of electric six degrees of freedom swaying platform in Pro/E. Check the model’s mass, clearance, intervene to validate the design of overall project is accurate and reasonable. And provide a valid virtual prototype model for kinematics and dynamics simulation. Simulate the kinematics and dynamics using ADAMS, check kinematics intervene, and get the movement of the swaying platform and the driving force. Meanwhile analyse the key parts which bear great burden with finite element method using ANSYS, pivotal parts contains up-platform, hooke joint, spherical joint, analyse contains statics analysis, dynamics analysis, model analysis, optimize the construction of the pivotal parts based on results of the analysis, and insure the rigidity and strength of the swaying platform structure satisfy the demand. Finally do the kinematics simulationof the swaying platform using ADAMS to check that the design is reasonable.更多还原