【正文】 r: Associate Professor Chen Xiulong College of Mechanical and Electronic Engineering May 2020 聲 明 本人呈交給山東科技大學的這篇碩士學位論文，除了所列參考文獻和世所公認的文獻外，全部是本人在導師指導下的研究成果。 其次，運用并聯(lián)機構的彈性動力學理論，以直接微分法推導 并聯(lián)機構的運動誤差、驅動桿應力和系統(tǒng)頻率對動平臺質量和驅動桿截 面積等設計參數的靈敏度公式；在此基礎上，分析動 平臺的質量和驅動桿的截面面積對并聯(lián)機構的運動誤差、驅動桿應力和系統(tǒng)頻率的影響，為該機構的彈性動力學優(yōu)化設計提供理論依據。 關鍵詞： 彈性動力學，靈敏度，理想點法，內懲罰函數法 ，遺傳算法 山東科技大學碩士學位論文 摘 要 ABSTRACT Elastic dynamics, dynamics sensitivity and dynamics optimization design of 4UPS/UPU spatial parallel mechanism are studied in this article. Firstly, elastic dynamics of 4UPS/UPU spatial parallel mechanism is analyzed, and the elastic dynamics model of parallel mechanism is established. Expressions of elastic dynamic behaviors including dynamics differential equation, stress of driving limbs and system frequencies for 4UPS/UPU spatial parallel mechanism are derived. The dynamics differential equation is solved by Newmark method, and provides a basis for the elastic dynamics sensitivity analysis and elastic dynamics optimization of the mechanism. Secondly, based on the elastic dynamics theory, the sensitivity equation of kinematic error, stress of driving limbs and system frequencies for parallel mechanism to various design parameters including the mass of moving platform and sectional area of driving limbs are derived by the differential method, respectively. On this basis, the impact of various design parameters to elastic dynamics behaviors for parallel mechanism is analyzed, and provided an important theoretical base of elastic dynamics optimization of the mechanism. Finally, based on elastic dynamics analysis and sensitivity analysis of parallel mechanism, design variable, objective function and constraint function of optimal design are defined, and expressions of its function are derived. The linear weighted method and idealpoint method are used for converting the multiobjective optimization into the singleobjective one, and internal penalty function method is used for converting the constrained optimization into the unconstrained one. Then the geic algorithm is used for optimization of parallel mechanism. Elastic dynamics behavior of parallel mechanism after optimization based on the optimization results has improved apparently. Key words: Elastic dynamics, Sensitivity, Idealpoint method, Internal penalty function method, Geic algorithm 山東科技大學碩士學位論文 目 錄 目 錄 1 緒 論 ........................................................................................................... 1 并聯(lián)機構的國內外發(fā)展概況 ..................................................................................... 1 并聯(lián)機構的動力學研究現(xiàn)狀 ..................................................................................... 3 課題研究意義 ............................................................................................................. 4 本論文的主要內容 ..................................................................................................... 5 2 并聯(lián)機構彈性動力學建模與分析 ................................................................ 6 引言 ............................................................................................................................. 6 單元彈性動力學方程的建立 ..................................................................................... 7 支鏈彈性動力學方程的建立 ................................................................................... 15 并聯(lián)機構彈性動力學方程的建立 ........................................................................... 17 并聯(lián)機構彈性動力學方程的求解 ........................................................................... 24 并聯(lián)機構的應力分析 ............................................................................................... 28 系統(tǒng)頻率特性分析 ................................................................................................... 33 本章小結 ................................................................................................................... 34 3 并聯(lián)機構彈性動力學靈敏度分析 .............................................................. 35 引言 ........................................................................................................................... 35 單元彈性動力學靈敏度方程的建立 ....................................................................... 36 支鏈彈性動力學靈敏度方程的建立 ....................................................................... 39 并聯(lián)機構彈性動力學靈敏度方程的建立 ............................................................... 40 并聯(lián)機構動應力的靈敏度分析 ............................................................................... 48 系統(tǒng)頻率的靈敏度分析 ........................................................................................... 56 本章小結 ................................................................................................................... 58 4 并聯(lián)機構彈性動力學優(yōu)化設計 .................................................................. 59 引言 ........................................................................................................................... 59 優(yōu)化策略的確定 ....................................................................................................... 59 山東科技大學碩士學位論文 目 錄 優(yōu)化模型的確定 ....................................................................................................... 60 優(yōu)化模型的求解 ....................................................................................................... 63 本章小結 ......................