【正文】 ...................................................................................................... 65 5 Conclusions and Prospects ........................................................................... 66 山東科技大學工程碩士學位論文 目錄 Conclusions ................................................................................................................... 66 Prospects...................................................................................................................... 66 Acknowledgement ............................................................................................ 67 References ...................................................................................................... 67 Scientific research and published papers .............................................................................. 72 山東科技大學工程碩士學位論文 緒論 1 1 緒 論 測量機的國內外發(fā)展狀況 1959 年，英國制造了世界上第一臺測量機 [1,2]。elastodynamics。彈性動力學 。求解系統(tǒng)的運動學約束條件和動力學約束條件，建立系統(tǒng)的廣義坐標，進而將支鏈的彈性動力學方程裝配成系統(tǒng)的彈性動力學方程，完成測量機系統(tǒng)的彈性動力學模型的建立。本文以空間并聯(lián)坐標測量機為研究對象，對其彈性動力學建模，動力學行為分析等進行了較系統(tǒng)的研究。 工 程 碩 士 學 位 論 文 基于 KED 方法的高速空間并聯(lián)坐標測量機彈性動力學研究 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。因此對測量機進行彈性動力學行為分析顯得尤為重要。分析支鏈上各個單元之間的約束關系，并據(jù)此將各個單元的彈性動力學方程裝配成支鏈的的彈性動力學方程。 關鍵詞： 坐標測量機 。KED 方法 山東科技大學工程碩士學位論文 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。KED method 山東科技大學工程碩士學位論文 目錄 目 錄 1 緒 論 ...................................................................................................... 1 測量機的國內外發(fā)展狀況 ......................................................................................... 1 并聯(lián)機構的彈性動力學研究現(xiàn)狀 ............................................................................. 1 課題 研究意義 ............................................................................................................. 3 本文研究的主要內容 ................................................................................................. 3 2 高速空間并聯(lián)坐標測量機的運動學分析 .................................................. 5 引言 ............................................................................................................................. 5 坐標測量機 結構分析 ................................................................................................. 5 坐標測量機的運動學分析 ......................................................................................... 6 本章小結 ................................................................................................................... 12 3 高速空間并聯(lián)坐標測量機的彈性動力學建模 ......................................... 13 引言 ........................................................................................................................... 13 單元彈性動力學方程的建立 ................................................................................... 13 支鏈彈性動力學方程的建立 ................................................................................... 20 系統(tǒng)彈性動力學方程的建立 ................................................................................... 24 本章小結 ................................................................................................................... 33 4 高速空間并聯(lián)坐標測量機動力學行為的數(shù)值仿真分析 .......................... 3