本文關鍵詞：位姿解耦型五維混聯(lián)隔振平臺振動建模方法的研究　出處：《哈爾濱工業(yè)大學》2015年碩士論文　論文類型：學位論文

  更多相關文章： 多剛體系統(tǒng) 拓撲 振動建模 模態(tài)分析

【摘要】：對于大部分機器和機構(gòu)來說,振動帶來了很多負面影響。隔振技術的研究已成為當代工程技術領域的重要課題之一,并具有重大意義。最近幾年,并聯(lián)機構(gòu)應用于隔振平臺的設計成為了研究熱點。隨著隔振系統(tǒng)結(jié)構(gòu)變得越來越復雜,振動模型的規(guī)模變得越來越大,隔振平臺振動建模方法的研究成為了關鍵所在。將本文針對哈爾濱工業(yè)大學自主研制出位姿解耦型五維混聯(lián)隔振平臺進行了多剛體系統(tǒng)振動建模方法的研究,該建模方法和所得結(jié)論為隔振平臺的精確設計和隔振效果分析提過了所需的理論基礎。對該位姿解耦型五維混聯(lián)隔振平臺的基本運動鏈組成進行分析,通過方位特征集的方法解析隔振平臺的自由度和解耦性。通過環(huán)路矢量法建立了隔振平臺的運動學逆解模型,推導出了其運動學逆雅克比矩陣�？紤]關節(jié)的柔性,利用旋轉(zhuǎn)矩陣將空間多自由度振動系統(tǒng)轉(zhuǎn)變?yōu)閱畏较蚨嘧杂啥日駝酉到y(tǒng),利用虛功原理建立了隔振平臺的振動模型,對其進行模態(tài)分析,采用ANSYS進行了動力學仿真與有限元分析,仿真結(jié)果與理論計算值相比較驗證了該振動建模方法的正確性,并在不同姿態(tài)下結(jié)果對比分析研究了該隔振平臺的振動特性。在ADAMS環(huán)境內(nèi),對該五維混聯(lián)隔振平臺上、下兩層分別進行機構(gòu)拓撲結(jié)構(gòu)解析,并基于約束拓撲變換的方法對該隔振平臺進行動力學建模,研究該隔振平臺振動特性,并與上一章理論計算結(jié)果相比較驗證了該方法的可行性。
[Abstract]:For most machines and institutions, vibration has brought a lot of negative effects. The research of vibration isolation technology has become one of the important topics in the field of modern engineering technology, and has great significance in recent years. The application of parallel mechanism to the design of vibration isolation platform has become a research hotspot. As the structure of vibration isolation system becomes more and more complex, the scale of vibration model becomes larger and larger. The research of vibration modeling method of vibration isolation platform has become the key. In this paper, the vibration modeling method of multi-rigid body system is studied based on the self-developed position and attitude decoupling five-dimensional hybrid vibration isolation platform of Harbin University of Technology. The modeling method and the obtained conclusions provide a theoretical basis for the accurate design of the platform and the analysis of the vibration isolation effect. The basic motion chain composition of the five-dimensional hybrid vibration isolation platform with decoupling position and attitude is analyzed. The degree of freedom and decoupling of vibration isolation platform are analyzed by the method of azimuth characteristic set, and the inverse kinematics model of vibration isolation platform is established by loop vector method. The inverse Jacobian matrix of kinematics is derived. Considering the flexibility of the joint, the spatial multi-degree-of-freedom vibration system is transformed into a unidirectional multi-degree-of-freedom vibration system by using the rotation matrix. The vibration model of the vibration isolation platform is established by using the principle of virtual work, and the modal analysis is carried out. The dynamic simulation and finite element analysis are carried out by ANSYS. The simulation results are compared with the theoretical results to verify the correctness of the vibration modeling method, and the vibration characteristics of the vibration isolation platform are compared and analyzed under different attitude. The vibration characteristics of the vibration isolation platform are studied in the ADAMS environment. The next two layers are analyzed respectively on the five-dimensional hybrid vibration isolation platform, and the vibration characteristics of the vibration isolation platform are studied based on the constrained topological transformation method for the dynamic modeling of the vibration isolation platform. The feasibility of the method is verified by comparison with the theoretical results in the previous chapter.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TB535.1

【參考文獻】

相關博士學位論文 前1條

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本文編號：1364991