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空間并聯(lián)機(jī)構(gòu)的彈性動(dòng)力學(xué)優(yōu)化設(shè)計(jì)畢業(yè)論文(完整版)

  

【正文】 .......................... 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]。 圖 并聯(lián)娛樂(lè)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(lái), 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 緒 論 2 所示 CAE 公司生產(chǎn)的飛行模擬器)、娛樂(lè)裝置、并聯(lián)機(jī)床(如圖 所示 VARIAX 并聯(lián)機(jī)床)、微操作機(jī)器人(如圖 所示用于眼部手術(shù)的機(jī)器人)等。 Dasgupta[17]應(yīng)用 NewtonEuler法得到了一種有效解決并聯(lián)機(jī)構(gòu)動(dòng)力學(xué)計(jì)算的 方 法。在國(guó)內(nèi),山東科技大學(xué)陳修龍等 [34]應(yīng)用 CAD、 CAE和可視化虛擬樣機(jī)技術(shù),對(duì)建立的高速空間并聯(lián)坐標(biāo)測(cè)量機(jī)的剛?cè)狁詈咸摂M樣機(jī)進(jìn)行仿真分析,研究動(dòng)平臺(tái)質(zhì)量和驅(qū)動(dòng)桿截面半徑變化對(duì)運(yùn)動(dòng)誤差及驅(qū)動(dòng)桿上的動(dòng)應(yīng)力等動(dòng)力學(xué)動(dòng)態(tài)特性的影響規(guī) 律,然后根據(jù)分析結(jié)果對(duì)設(shè)計(jì)參數(shù)進(jìn)行優(yōu)化,使得測(cè)量機(jī)動(dòng)力學(xué)特性 明顯改善; 余躍慶、 張策等 [27
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