【正文】 ............................................ 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 ................................................................................................................... 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 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