【正文】 工 程 碩 士 學(xué) 位 論 文 基于 KED 方法的高速空間并聯(lián)坐標(biāo)測(cè)量機(jī)彈性動(dòng)力學(xué)研究 RESEARCH ON ELASTIC DYNAMICS OF HIGHSPEED SPACE PARALLEL COORDINATE MEASURING MACHINE WHICH BASED ON KED METHOD A Dissertation submitted in fulfillment of the requirements of the degree of MASTER OF ENGINEERING from Shandong University of Science and Technology by Li Yunfeng Supervisor: Associate Professor Chen Xiulong College of Mechanical and Electronic Engineering May 20xx 聲 明 本人呈交給山東科技大學(xué)的這篇碩士學(xué)位論文，除了所列參考文獻(xiàn)和世所公認(rèn)的文獻(xiàn)外，全部是本人在導(dǎo)師指導(dǎo)下的 研究成果。該論文資料尚沒有呈交于其它任何學(xué)術(shù)機(jī)關(guān)作鑒定。 碩士生簽名： 日 期： AFFIRMATION I declare that this dissertation, submitted in fulfillment of the requirements for the award of Master of Engineering in Shandong University of Science and Technology, is wholly my own work unless referenced of acknowledge. The document has not been submitted for qualification at any other academic institute. Signature: Date: 山東科技大學(xué)工程碩士學(xué)位論文 摘要 摘 要 現(xiàn)代并聯(lián)坐標(biāo)測(cè)量機(jī)正朝著高速、輕型、精密和低噪聲的方向發(fā)展，也正是由于這一特點(diǎn)，使得測(cè)量機(jī)輕質(zhì)構(gòu)件很容易發(fā)生彈性變形，這不僅影響了測(cè)量機(jī)的軌跡精度，還破壞了系統(tǒng)的穩(wěn)定性，同時(shí)也降低了機(jī)器的使用壽命。因此對(duì)測(cè)量機(jī)進(jìn)行彈性動(dòng)力學(xué)行為分析顯得尤為重要。本文以空間并聯(lián)坐標(biāo)測(cè)量機(jī)為研究對(duì)象，對(duì)其彈性動(dòng)力學(xué)建模，動(dòng)力學(xué)行為分析等進(jìn)行了較系統(tǒng)的研究。主要內(nèi)容如下： 首先，分析該測(cè)量機(jī)的結(jié)構(gòu)特點(diǎn)，確定該機(jī)構(gòu)自由度數(shù)，對(duì)機(jī)構(gòu)的五個(gè)支鏈進(jìn)行運(yùn)動(dòng)學(xué)分析。 其次，根據(jù)測(cè)量機(jī)機(jī)構(gòu)的精度要求和特性利用有限元的方法將機(jī)構(gòu)的柔性 構(gòu)件劃分單元，根據(jù) KED 分析理論建立計(jì)入幾何非線性因素和不計(jì)入幾何非線性因素的單元的彈性動(dòng)力學(xué)方程。分析支鏈上各個(gè)單元之間的約束關(guān)系，并據(jù)此將各個(gè)單元的彈性動(dòng)力學(xué)方程裝配成支鏈的的彈性動(dòng)力學(xué)方程。求解系統(tǒng)的運(yùn)動(dòng)學(xué)約束條件和動(dòng)力學(xué)約束條件，建立系統(tǒng)的廣義坐標(biāo)，進(jìn)而將支鏈的彈性動(dòng)力學(xué)方程裝配成系統(tǒng)的彈性動(dòng)力學(xué)方程，完成測(cè)量機(jī)系統(tǒng)的彈性動(dòng)力學(xué)模型的建立。 最后，對(duì)彈性動(dòng)力學(xué)行為進(jìn)行了仿真分析，規(guī)劃了三個(gè)運(yùn)動(dòng)軌跡，利用 MATLAB軟件，給出了動(dòng)平臺(tái)產(chǎn)生的輸出位移誤差、速度誤差、加速度誤差的變化情況，給出了測(cè)量機(jī)機(jī)構(gòu) 構(gòu)件在運(yùn)動(dòng)過程中動(dòng)應(yīng)力的變化情況以及頻率的變化情況，并對(duì)計(jì)入非線性因素和未計(jì)入非線性因素對(duì)結(jié)果的影響做出比較。通過數(shù)值仿真結(jié)果表明本文所建非線性彈性動(dòng)力學(xué)模型合理，非線性的因素對(duì)結(jié)果有一定的影響。 關(guān)鍵詞： 坐標(biāo)測(cè)量機(jī) 。彈性動(dòng)力學(xué) 。非線性 。應(yīng)力 。KED 方法 山東科技大學(xué)工程碩士學(xué)位論文 摘要 ABSTRACT The elastic deformation of lightweight ponents of measuring machine is occured as parallel coordinate measuring machine is developing into highspeed,lightweight,precise and lownoise elastic deformations not only affect trajectory accuracy,destroy the system stability,but also reduce productivity and machine , the research on parallel coordinate machine is of great significance. In this thesis, highspeed space PCMM is taken as object of modeling and analysis,numerical analysis are main content in this thesis are listed as follows: Firstly,structural characteristics of the 4UPSUPU highspeed space PCMM is degree of freedom is kinematics analyses of the five driving limbs are taken. Secondly,According to the accuracy requirement and characteristic the spatial beam element is used to discretize the flexible driving limbs by using finite element method. Based on the KED analysis theory the dynamic equations of element are derived which is included in the geometric nonlinear factors and not included in the geometric nonlinear constraint among elements, the dynamic equations of branches are derived. Establishing the generalized coordinates of the system,the overall system elastic dynamic equation of the PCMM is obtained by assembling the dynamic equations of then selected the method of solving elastic dynamics equation. Finally, Based on trajectory numerical simulation analysis is MATLAB software the displacement error, velocity, acceleration of the PCMM are analyzed,The change of dynamic stress and the change of frequency are also the influence on the results which included in the nonlinear and not included in the nonlinear factors to make a calculated numerical results show that the effectiveness and correctness of the nonlinear elastic dynamic models,nonlinear factors have certain influence on the result. Key words:coordinate measuring machine。elastodynamics。no nlinear。stress。KED method 山東科技大學(xué)工程碩士學(xué)位論文 目錄 目 錄 1 緒 論 ...................................................................................................... 1 測(cè)量機(jī)的國(guó)內(nèi)外發(fā)展?fàn)顩r ......................................................................................... 1 并聯(lián)機(jī)構(gòu)的彈性動(dòng)力學(xué)研究現(xiàn)狀 ............................................................................. 1 課題 研究意義 ............................................................................................................. 3 本文研究的主要內(nèi)容 ................................................................................................. 3 2 高速空間并聯(lián)坐標(biāo)測(cè)量機(jī)的運(yùn)動(dòng)學(xué)分析 .................................................. 5 引言 ............................................................................................................................. 5 坐標(biāo)測(cè)量機(jī) 結(jié)構(gòu)分析 ................................................................................................. 5 坐標(biāo)測(cè)量機(jī)的運(yùn)動(dòng)學(xué)分析 ......................................................................................... 6 本章小結(jié) ................................................................................................................... 12 3 高速空間并聯(lián)坐標(biāo)測(cè)量機(jī)的彈性動(dòng)力學(xué)建模 ......................................... 13 引言 ........................................................................................................................... 13 單元彈性動(dòng)力學(xué)方程的建立 ................................................................................... 13 支鏈彈性動(dòng)力學(xué)方程的建立 ................................................................................... 20 系統(tǒng)彈性動(dòng)力學(xué)方程的建立 ................................................................................... 24 本章小結(jié) .............................