【作者】 周奖清；

【导师】 傅蔡安；

【作者基本信息】 江南大学 ， 机械制造及其自动化， 2008， 硕士

【摘要】 随着人们对高精度、高速度及高敏捷性等高性能加工要求的并联机床的需求量的增加和机器人技术的发展,这些年来并联机床和并联机器人日益成为学术界及工程应用中的重点;因此并联机构的设计与研究也成为世界研究的热点,不断的涌现出各种不同自由度、不同结构类型的并联机构。本文以一种新型的六自由度3-RRRS型并联机构为研究对象,利用虚拟样机等技术对机构的结构设计,位姿分析、工作空间分析、运动学分析、动力学分析、参数化设计与分析及其优化设计等方面进行了较全面的研究。论文首先完成了该新型并联机构的结构设计,在此基础上建立了六自由度并联机构的位姿逆解方程和正解方程组,并分别通过数值算例验证了正反解的正确性。同时推导出了反应机构灵活度的雅可比矩阵。接着在基于运动学逆解的基础上采用极限边界搜索法利用MATLAB数学工具,绘制出了不同参数组合、不同姿态下的位置空间图谱,完成了空间的可视化分析,并利用可视化图谱对影响工作空间的各种因素一一作出了深入的分析,从而知道哪些因素是影响工作空间大小的主要因素。其次,利用ADAMS软件建立了动力学仿真模型,并对其进行了运动学正解和运动学逆解仿真,揭示了该类机构的运动规律及其空间运动能力,同时为过程控制提供了控制参数。接着进行了动力学分析,得知机构受力的变化规律,从而为机构构件的尺寸、形状及受力分析提供了重要依据。然后对机构进行了参数化分析和优化设计,最后根据优化指标值得出了最优的参数组合,为工程实际应用提供了参考依据。更多还原

【Abstract】 As increasing demand of high accuracy, high speed and agility, and other high-performance processing requirements for parallel machine tools and the development of robot technology, over the years, PMT and parallel robot has increasingly become the academic and engineering applications in Focus, therefore the design and studies on parallel mechanism have also become the world’s hot spots, and there constantly emerged in the various degrees of freedom, different types of parallel mechanisms.This article has improved the design for the existed parallel mechanism named by 3-RRRS,and has completed a more comprehensive study on many aspects by virtual prototyping techniques,such as design of the structure, posture analysis, the workspace analysis, kinematics analysis , Dynamic analysis ,parametic design and analysis and Optimal Design,and so on.The paper has improved the design of structure,and established forward and inversed equation on the base of parallel mechanism,and verified correctness of forward and inversed kinematic by numerical examples,and induced the Jacobii Matrix reflecting the flexibility of mechanism.Then the paper has completed the workspace of visual analysis by MATLAB and MATHEMATIC,and made a depth-analysis to know what factors affecting the workspace are major factors.Secondly,the paper has established a dynamic simulation model ,and made simulations on the forward and inversed kinematic to reveal the movement of such space movement and its ability. Then making a dynamic analysis to known the changed law of force on the bodies and to provide important reference following studies.Finally, the article has made a parametic design and its analysis to optimize the mechanism.All of aboved will provide pratical application of reference for the project and academic research.更多还原