【正文】 ............................................................................................. 73 5 結(jié)論與展望 ................................................................................................. 75 主要結(jié)論 ................................................................................................................... 75 工作展望 ................................................................................................................... 76 致 謝 ............................................................................................................... 77 參考文獻(xiàn) ........................................................................................................... 78 攻讀碩士學(xué)位期間從事科學(xué)研究及發(fā)表論文情況 ......................................... 83 山東科技大學(xué)碩士學(xué)位論文 目 錄 Contents 1 Introduction ......................................................................................................................... 1 Development of parallel mechanism at home and abroad........................................... 1 Dynamics research of parallel mechanism ........................................................................... 3 Significance of the subject ................................................................................................. 4 Main content of the subject ................................................................................................ 5 2 Establishment of elastic dynamic model for PM and its analysis ................................... 6 Foreward ......................................................................................................................... 6 Establishment of element elastic dynamic equations.............................................................. 7 Establishment of branch elastic dynamic equations ..............................................................15 Establishment of PM elastic dynamic equations...................................................................17 Solution of PM elastic dynamic equations...........................................................................24 Stress analysis of PM .......................................................................................................28 Frequency analysis of system ............................................................................................33 Summary........................................................................................................................34 3 Elastic dynamics sensitivity analysis of PM .................................................................... 35 Foreward ........................................................................................................................35 Sensitivity equations establishment of element elastic dynamic .............................................36 Sensitivity equations establishment of branch elastic dynamic ...............................................39 Sensitivity equations establishment of PM elastic dynamic ...................................................40 Sensitivity analysis of PM dynamic stress ...........................................................................48 Sensitivity analysis of system frequency .............................................................................56 Summary........................................................................................................................58 4 Elastic dynamics optimization design of parallel mechanism ....................................... 59 Foreward ........................................................................................................................59 Determination of optimization strategy...............................................................................59 Determination of optimization model .................................................................................60 山東科技大學(xué)碩士學(xué)位論文 目 錄 Solution of optimization model .........................................................................................63 Summary........................................................................................................................73 5 Conclusions and Prospects................................................................................................ 75 Conclusions ....................................................................................................................75 Prospects ........................................................................................................................76 Acknowledgement ................................................................................................................... 77 References ................................................................................................................................ 78 Scientific Research and Published Papers ............................................................................ 83 山東科技大學(xué)碩士學(xué)位論文 緒 論 1 1 緒 論 并聯(lián)機(jī)構(gòu)的國(guó)內(nèi)外發(fā)展概況 并聯(lián)機(jī)構(gòu)（ Parallel Mechanism，簡(jiǎn)稱 PM）是由動(dòng)平臺(tái)、定平臺(tái)和動(dòng)定平臺(tái)間多個(gè)連接支鏈組成的自由度數(shù)不少于一個(gè)的閉環(huán)機(jī)構(gòu) [1]。 1947 年，英國(guó)工程師 Eric Gough博士 [4]設(shè)計(jì)了一種被稱為六足機(jī)構(gòu)（ Hexapod）具有六自由度的用于輪胎測(cè)試的并聯(lián)機(jī)構(gòu)（如圖 ）。 圖 并聯(lián)娛樂機(jī)構(gòu) 圖 Gough 并聯(lián)機(jī)構(gòu) Parallel entertainment mechanism Parallel mechanism of Gough 自八十年代尤其是九十年代以來， 并聯(lián)機(jī)構(gòu) 在人類的日常生產(chǎn)生活中開始廣泛應(yīng)用，如運(yùn)動(dòng)模擬系統(tǒng)（如圖 所示德國(guó) DaimlerBenz公司制造的汽車運(yùn)行模擬器和如圖 山東科技大學(xué)碩士學(xué)位論文