【作者】 孙亮波；

【导师】 孔建益；

【作者基本信息】 武汉科技大学 ， 机械设计及理论， 2012， 博士

【摘要】 本文论述了机构学研究现状，重点探讨了全铰链N杆组的机构型综合，提出了一种杆组的拓扑图绘制方法；提出变胞元杆组概念、基于基本杆组和变胞元杆组的变胞机构设计理论；对基本4杆组和变胞元4杆组进行包含移动副的构型综合分析；探讨高级别杆组的非线性方程组解法，实验论证了4杆组构型综合理论，研制完成基于杆组法构建的机构运动学分析软件。（1）在已有研究的基础上，本文首先计算分析并推导出杆组的特征值，提出了一种杆组拓扑图的绘制原则。基于有限的杆组特征值组合，采用拓扑图法对1环以内、不包含5元以上构件的2至10杆组进行了构型综合，列表给出了这些全铰链杆组的拓扑图和结构图。通过对比杆组特征值和杆组结构图谱，可快速准确地判别结构复杂机构的级别，利于后续采用杆组模块化运动学分析求解。提出了杆组构型的数组表示法，并列出了构型表，实现了杆组的数字化表示。通过实例分析了上述理论方法的正确性。（2）提出杆组构型综合的实用可动型理论，对4A杆组和4B杆组提出了一种新的、直观的命名方法，通过杆组名称可直观地获得杆组结构构型。基于实用可动型进一步分析和论证4A杆组有16种、4B杆组有21种构型综合。结合目前变胞机构的研究热点，提出变胞元杆组的概念，提出基于基本杆组和变胞元杆组的变胞机构设计方法、变胞方式等理论，举例分析了变胞元杆组的蜕化和衍生原理，分析确定变胞元4A杆组、变胞元4B杆组构型综合分别为66种和70种，并列表给出其结构图。以上研究为机构学的理论拓展和变胞机构的设计、开发应用提供了可行的理论方法和详实的图表数据。（3）完成了基于杆组法构建的机构运动学分析系统的设计与实现，阐述系统整体设计思路，以及关键技术，如4杆组的非线性方程组解法、所有2，4杆组的归一化求解实现、含附加杆的机构组建、杆组或构件不同联入方式的信息处理、多自由度机构仿真预运行、提出高级别杆组可行域的概念、利用机构初始构态信息作为迭代初值去求解位移模块，较好地解决了非线性方程组求解对迭代初值的依赖性等。基于杆组法构建的机构运动学分析系统，从仿真实验的角度论证了4杆组基于实用可动性的构型综合结论的正确性，同时为广大机构学者提供了一款能快速建模、运动学分析和信息显示输出的便捷工具软件。（4）最后结合作者创新设计的斗牛士健身车、救援变形金刚等作品，运用杆组法进行结构分析，使用该软件进行机构运动学分析，实验表明，该系统容错性强、分析计算快速准确，具有较好的实用价值。更多还原

【Abstract】 Mechanism research status is depicted in this paper, N-links Assur Group model synthesiswith all prismatic pairs is studied and a topology graph drawing method is addressed, theconcept of metamorphic element Assur Group and the theory of metamorphic mechanismdesign based on Assur Group and metamorphic element Assur group are addressed too.Mmodel synthesis of4-links Assur Group and its metamorphic Assur Group including prismaticpairs are analyzed, and then high level Assur Group’s non-linear equation solution problem isdiscussed, so as to verify the model synthesis theory, baed on above research, mechanismkinematics analysis software is finished based on Assur Group.(1) Based on the exsited research, this paper analyzes and deduces Assur Group eigenvaluefirstly, a new topology graph darwing rules is addressed. Then based on the limited AssurGroup eigenvalues combination, topology graph is used to do model synthesis for2-10linksAssur Group which has0or1loop and no more than5pairs part. All topology graph andconfiguration graph are listed in a table, by comparing Assur Group eigenvalue and graph, canquickly distinguishes the level of complicated mechanism, and this is very convenient to domechanism kinematics analysis and solve based on Assur Group modules. Array expression ofAssur Group is addressed and model array expression table is listed, this realized Assur Groupnumeric expression. Example is analyzed and verifies the above theory.(2) Application and Moveable Theory (AMT) for Assur Group model synthesis isaddressed, and a new name for4A and4B Assur Group is addressed, use this method canquickly get Assur Group configuration by its name. Based on AMT,4A and4B Assur Groupmodel synthesis are analyzed and demonstrated, and the conclusion that there are164A and214B models has been proved. Metamorphic element Assur Group concept, metamorphicmechanism creative design method based on Assur Group and metamorphic element AssurGroup is addressed, and then some examples to analyze ecdysis and derivation rationale ofmetamorphic mechanism are given to analyze and conclude there are664A and704Bmetamorphic element Assur Group, their configuration graph is lised in the table. The aboveresearch exploits machine and mechanism theory and metamorphic mechanism, providesreasonable method and detailed data such as graph and table for mechanism creative design.(3) Finishes mechanism kinematics based on Assur Group analysis system design andrealization, expatiates design route and some key technology, such as4-links Assur Groupnon-linear equations solution, uniform solve for all2-links and4-links Assur Group,mechanism setting-up with appended link, information handling with different input, high levelAssur Group movable area counting, using mechanism initial construction infor as initialiteration value to solve the problem that the rely on initial iteration value of Newton-Raphson iteration. The mechanism kinematics analysis system based on Assur Group, by simulation,verifies the correction of4-links Assur Group model synthesis, and provides a convenient toolwhich can set up mechanism model quickly and do kinematics analysis and infor display formechanists.(4) Last the matador exercise vehicle, succor transfiguration robot are introduced, AssurGroup method is used to do configuration analysis, and then mechanism kinematics analysissoftare is used to simulate the mechanism’s movement. The examples verify that themechanism kinematics analysis system have the advantages such as good fault tolerance,counting quickly and worthy application.更多还原