【正文】 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。 關(guān)鍵詞： 彈性動(dòng)力學(xué)，靈敏度，理想點(diǎn)法，內(nèi)懲罰函數(shù)法 ，遺傳算法 山東科技大學(xué)碩士學(xué)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(xué)碩士學(xué)位論文 目 錄 目 錄 1 緒 論 ........................................................................................................... 1 并聯(lián)機(jī)構(gòu)的國內(nèi)外發(fā)展概況 ..................................................................................... 1 并聯(lián)機(jī)構(gòu)的動(dòng)力學(xué)研究現(xiàn)狀 ..................................................................................... 3 課題研究意義 ............................................................................................................. 4 本論文的主要內(nèi)容 ..................................................................................................... 5 2 并聯(lián)機(jī)構(gòu)彈性動(dòng)力學(xué)建模與分析 ................................................................ 6 引言 ............................................................................................................................. 6 單元彈性動(dòng)力學(xué)方程的建立 ..................................................................................... 7 支鏈彈性動(dòng)力學(xué)方程的建立 ................................................................................... 15 并聯(lián)機(jī)構(gòu)彈性動(dòng)力學(xué)方程的建立 ........................................................................... 17 并聯(lián)機(jī)構(gòu)彈性動(dòng)力學(xué)方程的求解 ........................................................................... 24 并聯(lián)機(jī)構(gòu)的應(yīng)力分析 ............................................................................................... 28 系統(tǒng)頻率特性分析 ................................................................................................... 33 本章小結(jié) ................................................................................................................... 34 3 并聯(lián)機(jī)構(gòu)彈性動(dòng)力學(xué)靈敏度分析 .............................................................. 35 引言 ........................................................................................................................... 35 單元彈性動(dòng)力學(xué)靈敏度方程的建立 ....................................................................... 36 支鏈彈性動(dòng)力學(xué)靈敏度方程的建立 ....................................................................... 39 并聯(lián)機(jī)構(gòu)彈性動(dòng)力學(xué)靈敏度方程的建立 ............................................................... 40 并聯(lián)機(jī)構(gòu)動(dòng)應(yīng)力的靈敏度分析 ............................................................................... 48 系統(tǒng)頻率的靈敏度分析 ........................................................................................... 56 本章小結(jié) ................................................................................................................... 58 4 并聯(lián)機(jī)構(gòu)彈性動(dòng)力學(xué)優(yōu)化設(shè)計(jì) .................................................................. 59 引言 ........................................................................................................................... 59 優(yōu)化策略的確定 ....................................................................................................... 59 山東科技大學(xué)碩士學(xué)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(jié) ................................................................................................................... 73 5 結(jié)論與展望 ................................................................................................. 75 主要結(jié)論 .........................................................................................