【作者】 章江丽；

【导师】 郑建明；

【作者基本信息】 西安理工大学 ， 机械电子工程， 2009， 硕士

【摘要】 随着并联驱动技术的发展以及为满足特定目的的需要,少自由度并联机构的研究与应用日益广泛。本文运用DELTA二自由度5R并联机构构造了一种三自由度混联机床的原型,研究了平面5R并联机构的原理与构型特点,对5R并联机构的运动学和性能指标、机床总体方案设计及其仿真等问题进行深入系统的研究。对国内外少自由度并联机构及其研究现状进行了综述的基础上,采用串、并联机构相结合的思想,设计了一种基于平面二自由度5R并联机构的三自由度混联机床；建立了DELTA并联机构的运动学模型,对并联机构的位置正反解、速度雅可比矩阵、理论工作空间、刚度、灵巧度性能指标、奇异位置等问题进行了深入探讨；基于工作空间和刚度性能指标的综合确定了5R并联机构的杆长参数；给出了三自由度混联机床运动功能的实现方案,采用模块化思想完成了平面5R混联机床的开发设计；运用三维CAD(Solid Edge)软件建立了混联机床虚拟样机的实体模型,并对虚拟样机进行了干涉检验。采用MATLAB软件对混联机床并联运动模块的位置反解进行了理论分析与计算；运用ADAMS软件进行并联机构仿真分析,对末端点确定工作轨迹的仿真实现进行研究,得到正确的加工轨迹,验证了三自由度混联机床设计的合理性,为并联机构的应用和混联机床的设计提供了依据。更多还原

【Abstract】 With the development of the parallel driving technology and the needs of satisfying the special target, the researches and applications of lower-mobility parallel mechanism has been wider. In this thesis, the principle and characteristics of configuration of planar 5R parallel are studied based on the prototype of 3-dof hybrid machine tool which is constructed by DELTA 2-dof 5R parallel mechanism. Meanwhile, some relative aspects are research deeply and systematically, such as kinematics and performance analysis of parallel mechanism, the general design of machine tool and simulation.After exhaustive discussing and summarizing on the current situation analysis of research on lower-mobility parallel mechanism and hybrid mechanism, a 3-dof hybrid machine tool, based on planar 5R parallel mechanism, is proposed by combining the ideas of serial and parallel mechanism. The forward/inverse position solutions, velocity Jacobin matrix, theoretical workspace, stiffness, performance index of dexterity and singular configuration are deeply on the base of the kinematics model of DELTA parallel mechanism which is established in this thesis. The rod length of 5R parallel is setted by combining the workspace and the performance index of stiffness; the implementation scheme of kinematics function of 3-dof hybrid machine tool is proposed and the designing of planar 5R hybrid machine tool based on modularization idea is realized. Through using 3-D CAD (Solid Edge) software, virtual prototype is established, and the interference detection of it is taken on. Finally, inverse position solution of parallel motion module of hybrid machine tool is theoretically analyzed and calculated by MATLAB; based on Adams software, kinematics simulation analysis is preformed, and the correct machining track is obtained by simulating the working track of end point, which verifies the validity of theoretical calculation. The simulation results provide theoretical foundation for practical designing, imitation motion, meanwhile, they provide a valid analysis method for engineering design of machine tool.更多还原