并联机构6-pss.doc
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并联机构6-pss,摘要并联机构的研究是机构学研究的重要方面之一,随着机加工的要求不断的提高,以并联机构为基础的并联机床也越来越受到重视。并联机构的构型很多,每个构型运动特性不尽相同,还有很多深入的工作有待完成。特别是六自由度的机构,运动机理更加复杂,更需要对其基础理论方面进行深入的研究。文章主要从机构的运动学与参数优化着手、围绕并联机构...
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摘 要
并联机构的研究是机构学研究的重要方面之一,随着机加工的要求不断的提高,以并联机构为基础的并联机床也越来越受到重视。并联机构的构型很多,每个构型运动特性不尽相同,还有很多深入的工作有待完成。特别是六自由度的机构,运动机理更加复杂,更需要对其基础理论方面进行深入的研究。文章主要从机构的运动学与参数优化着手、围绕并联机构6-PSS的基础理论进行研究。
主要研究内容如下:
1. 对现有的并联机构进行研究分析,对已经存在并联机构进行结构改进,提出本文研究对象,并对该机构进行详细的结构设计。对并联机构进行位置分析,建立机构的坐标系统,建立其位置正反解的数学模型,基于MATLAB软件采用基于混沌理论的牛顿迭代法求解出位置的正解值,并正反解的求解结果进行验证。
2. 对并联机构进行运动学分析,提出一种新的从支链两端推导速度与加速度的方法,建立速度与加速度数学模型,并对速度与加速度的反解方程进行数值求解。
3. 对并联机构进行工作空间分析,在位置反解的基础上进行定姿态条件下的工作空间分析,用MATLAB工具软件对工作空间进行可视化显示,并详尽分析工作空间各个方向切面图的形状特性,以及不同尺寸参数对工作空间形状与大小的影响。
4. 对并联机构进行尺寸优化,根据机构的结构形式推导出机构的速度数学模型、建立雅可比矩阵,并用范数的形式建立雅可比矩阵条件数的数学模型;对并联机构进行参数归一化处理后,以条件数的平均值与波动值的综合值作为目标建立目标函数、给出约束条件,最后通过数值计算得到机构雅可比矩阵条件数的平均值、波动值曲线和优化目标函数值的曲线图,优化出最佳参数值。
5. 建立以该并联机构为基本构架的并联机床的三维模型,并将三维模型导入到ADAMS软件里,对其进行运动学仿真,并将仿真结果与前面章节的理论分析结果进行对比分析。最后用MATLAB构建并联机构性能分析的原型系统,以便于快速方便的对该机构的性能进行分析。
关键词 并联机构;工作空间;参数优化;运动仿真;雅可比矩阵条件数
Abstract
Parallel mechanism research is an important aspect of mechanism kinematics research. Along with the machining requirements of continuous improvement,parallel machine which based on parallel mechanism has attracted more attention. There are many kinds of configuration and every configuration has it’s own movement characteristics, so there still have a lot of in-depth work remains to be done. Especially six degrees of freedom of organization, it’s movement mechanism was more complex, which need more basic theory research of its characteristics. This article mainly embarks on the research of the kinematics and parameter optimization.
This paper focusing on the theory research of parallel mechanism based on 6-PSS. The main research contents are as follows:
1. Research the existing parallel mechanism,carry on the improvement of structure proposed in this paper to study. And on the agency to detailed structure design, make its structure form more suitable for engineering application. Organization coordinate system of the parallel mechanism positive and negative solutions to its location mathematical modeling was established. MATLAB software was used to solve the position of positive solutions for value by Newton iteration method. And positive and negative solutions results of solving were verified.
2. Parallel mechanism kinematics analysis, this paper proposed a new method of establishing velocity and acceleration mathematical modeling and inverse equation of Speed and acceleration were numerically solved.
3. Working space analysis of parallel mechanism; Work space of the parallel mechanism was analyzed of the posture conditions based on solving inverse solution position equation. Working.space visual display was realized by MATLAB tool software with detailed analysis of each direction cut-side graph shape characteristics of working space and influence of different parameters to the workspace shape and size.
4. Parallel mechanism for size optimization; According to the organization structure forms deduced institutions speed mathematical model and establishment jacobian matrix, then establish jacobian matrix mathematics model of condition number. The parameters of parallel mechanism normalized, establish objective functions with the average of the condition number with fluctuation comprehensive value as a target and give constraint condition. Finally jacobian matrix condition number average values, fluctuation curves values and optimize values of the objective function of graph are calculated by numerical institutions, the optimized optimal parameter values are given out.
5. A 3d model of parallel machine tool was established based on the basic framework of the parallel mechanism. Import the 3d model into the ADAMS software, and carry on the kinematics simulation, and the simulation results with the preceding chapter of theoretical analysis results and the simulation analysis results are compared and analyzed.
Key words Parallel mechanism;Working space;Parameters optimization;Movement simulation;Jacobian matrix condition number
目 录
摘 要 I
Abstract III
第1章 绪 论 1
1.1 课题研究的意义 1
1.2 并联机构的发展概述 1
1.2.1 国外并联机构的发展概况 1
1.2.2 国内并联机构的发展概况 2
1.2...
并联机构的研究是机构学研究的重要方面之一,随着机加工的要求不断的提高,以并联机构为基础的并联机床也越来越受到重视。并联机构的构型很多,每个构型运动特性不尽相同,还有很多深入的工作有待完成。特别是六自由度的机构,运动机理更加复杂,更需要对其基础理论方面进行深入的研究。文章主要从机构的运动学与参数优化着手、围绕并联机构6-PSS的基础理论进行研究。
主要研究内容如下:
1. 对现有的并联机构进行研究分析,对已经存在并联机构进行结构改进,提出本文研究对象,并对该机构进行详细的结构设计。对并联机构进行位置分析,建立机构的坐标系统,建立其位置正反解的数学模型,基于MATLAB软件采用基于混沌理论的牛顿迭代法求解出位置的正解值,并正反解的求解结果进行验证。
2. 对并联机构进行运动学分析,提出一种新的从支链两端推导速度与加速度的方法,建立速度与加速度数学模型,并对速度与加速度的反解方程进行数值求解。
3. 对并联机构进行工作空间分析,在位置反解的基础上进行定姿态条件下的工作空间分析,用MATLAB工具软件对工作空间进行可视化显示,并详尽分析工作空间各个方向切面图的形状特性,以及不同尺寸参数对工作空间形状与大小的影响。
4. 对并联机构进行尺寸优化,根据机构的结构形式推导出机构的速度数学模型、建立雅可比矩阵,并用范数的形式建立雅可比矩阵条件数的数学模型;对并联机构进行参数归一化处理后,以条件数的平均值与波动值的综合值作为目标建立目标函数、给出约束条件,最后通过数值计算得到机构雅可比矩阵条件数的平均值、波动值曲线和优化目标函数值的曲线图,优化出最佳参数值。
5. 建立以该并联机构为基本构架的并联机床的三维模型,并将三维模型导入到ADAMS软件里,对其进行运动学仿真,并将仿真结果与前面章节的理论分析结果进行对比分析。最后用MATLAB构建并联机构性能分析的原型系统,以便于快速方便的对该机构的性能进行分析。
关键词 并联机构;工作空间;参数优化;运动仿真;雅可比矩阵条件数
Abstract
Parallel mechanism research is an important aspect of mechanism kinematics research. Along with the machining requirements of continuous improvement,parallel machine which based on parallel mechanism has attracted more attention. There are many kinds of configuration and every configuration has it’s own movement characteristics, so there still have a lot of in-depth work remains to be done. Especially six degrees of freedom of organization, it’s movement mechanism was more complex, which need more basic theory research of its characteristics. This article mainly embarks on the research of the kinematics and parameter optimization.
This paper focusing on the theory research of parallel mechanism based on 6-PSS. The main research contents are as follows:
1. Research the existing parallel mechanism,carry on the improvement of structure proposed in this paper to study. And on the agency to detailed structure design, make its structure form more suitable for engineering application. Organization coordinate system of the parallel mechanism positive and negative solutions to its location mathematical modeling was established. MATLAB software was used to solve the position of positive solutions for value by Newton iteration method. And positive and negative solutions results of solving were verified.
2. Parallel mechanism kinematics analysis, this paper proposed a new method of establishing velocity and acceleration mathematical modeling and inverse equation of Speed and acceleration were numerically solved.
3. Working space analysis of parallel mechanism; Work space of the parallel mechanism was analyzed of the posture conditions based on solving inverse solution position equation. Working.space visual display was realized by MATLAB tool software with detailed analysis of each direction cut-side graph shape characteristics of working space and influence of different parameters to the workspace shape and size.
4. Parallel mechanism for size optimization; According to the organization structure forms deduced institutions speed mathematical model and establishment jacobian matrix, then establish jacobian matrix mathematics model of condition number. The parameters of parallel mechanism normalized, establish objective functions with the average of the condition number with fluctuation comprehensive value as a target and give constraint condition. Finally jacobian matrix condition number average values, fluctuation curves values and optimize values of the objective function of graph are calculated by numerical institutions, the optimized optimal parameter values are given out.
5. A 3d model of parallel machine tool was established based on the basic framework of the parallel mechanism. Import the 3d model into the ADAMS software, and carry on the kinematics simulation, and the simulation results with the preceding chapter of theoretical analysis results and the simulation analysis results are compared and analyzed.
Key words Parallel mechanism;Working space;Parameters optimization;Movement simulation;Jacobian matrix condition number
目 录
摘 要 I
Abstract III
第1章 绪 论 1
1.1 课题研究的意义 1
1.2 并联机构的发展概述 1
1.2.1 国外并联机构的发展概况 1
1.2.2 国内并联机构的发展概况 2
1.2...