【摘要】：并聯(lián)機(jī)構(gòu)動(dòng)力學(xué)響應(yīng)是機(jī)器人動(dòng)力學(xué)研究領(lǐng)域的一個(gè)重要方面,具有多變量、多參數(shù)耦合和形式復(fù)雜等特點(diǎn),建模和求解效率直接影響機(jī)器人實(shí)時(shí)控制的靈敏度和精度。對(duì)此,本文基于序單開鏈法,結(jié)合虛功原理建立了平面和空間并聯(lián)機(jī)構(gòu)的動(dòng)力學(xué)響應(yīng)模型,該法將方程維數(shù)降至最低,具有形式簡潔,求解效率高,通用性強(qiáng),并與結(jié)構(gòu)學(xué)、運(yùn)動(dòng)學(xué)分析高度統(tǒng)一的特點(diǎn)。具體內(nèi)容包括以下幾個(gè)方面： 一、按照機(jī)構(gòu)分解路線的耦合度K算法,將并聯(lián)機(jī)械系統(tǒng)分解為約束度大于零、等于零和小于零三種類型的單開鏈單元。通過對(duì)約束度大于零單開鏈單元的運(yùn)動(dòng)學(xué)參數(shù)進(jìn)行虛擬賦值,并利用約束度小于零的單開鏈單元建立運(yùn)動(dòng)學(xué)相容性方程完成整個(gè)系統(tǒng)的運(yùn)動(dòng)學(xué)分析。以此建立常用單開鏈單元的運(yùn)動(dòng)學(xué)模型,為后續(xù)并聯(lián)機(jī)器人機(jī)構(gòu)的動(dòng)力學(xué)響應(yīng)分析奠定基礎(chǔ)。 二、將序單開鏈法思想與虛功原理相結(jié)合,建立平面和空間并聯(lián)機(jī)構(gòu)動(dòng)力學(xué)響應(yīng)方程的一般通式,其中包含兩種類型：1)不含運(yùn)動(dòng)副支反力動(dòng)力學(xué)響應(yīng)模型,通過速度和加速度分析,將各構(gòu)件質(zhì)心運(yùn)動(dòng)表達(dá)為關(guān)于廣義速度和加速度的函數(shù),并通過線性化處理與廣義坐標(biāo)特殊賦值的方法求得動(dòng)力學(xué)響應(yīng)方程系數(shù)矩陣中的各元素,避免對(duì)廣義坐標(biāo)進(jìn)行復(fù)雜的偏導(dǎo)運(yùn)算,從而提高建模效率；2)含運(yùn)動(dòng)副支反力動(dòng)力學(xué)響應(yīng)模型,通過解除單開鏈相關(guān)運(yùn)動(dòng)副約束和新增廣義坐標(biāo)的方法,并結(jié)合單開鏈的動(dòng)態(tài)靜力分析,得出系統(tǒng)在運(yùn)行過程中各運(yùn)動(dòng)副的受力情況,能有效地降低動(dòng)力學(xué)分析約束方程的個(gè)數(shù),降低計(jì)算的復(fù)雜度。 三、以一個(gè)平面3自由度(3-RRR)和空間4自由度(2SPS-2RPS)并聯(lián)機(jī)器人研究為例,詳細(xì)介紹了運(yùn)用序單開鏈法進(jìn)行動(dòng)力學(xué)響應(yīng)建模的一般思路和步驟。并通過Matlab編程計(jì)算得出它們的動(dòng)力學(xué)響應(yīng)特性曲線,以此對(duì)機(jī)構(gòu)運(yùn)動(dòng)的動(dòng)力學(xué)性能做出了簡要評(píng)估。 機(jī)構(gòu)動(dòng)力學(xué)分析是在結(jié)構(gòu)學(xué),運(yùn)動(dòng)學(xué)分析的基礎(chǔ)上逐步建立起來的,序單開鏈法不僅使得動(dòng)力學(xué)方程的維數(shù)降至最低,而且在運(yùn)動(dòng)學(xué)及動(dòng)力學(xué)分析時(shí)都基于統(tǒng)一單開鏈單元模型,從而形成完整、統(tǒng)一的機(jī)構(gòu)學(xué)理論。
[Abstract]:The dynamic response of parallel mechanism is an important aspect in the field of robot dynamics. It has the characteristics of multi-variable, multi-parameter coupling and complex form. Modeling and solving efficiency directly affect the sensitivity and precision of robot real-time control. In this paper, the dynamic response model of planar and spatial parallel mechanisms is established based on the order single open chain method and virtual work principle. The method reduces the dimension of the equation to the lowest, and has the advantages of simple form, high efficiency, strong generality, and structural analysis. The characteristics of a high degree of unity in kinematics analysis. The specific contents include the following aspects: firstly, according to the coupling degree K algorithm of the mechanism decomposition route, the parallel mechanical system is decomposed into three types of single open chain units with constraint degree greater than zero, equal to zero and less than zero. The kinematics parameters of single open chain unit with constraint degree greater than zero are given by virtual assignment. The kinematics compatibility equation of single open chain element with constraint degree less than zero is used to complete the kinematics analysis of the whole system. The kinematics model of single open chain element is established, which lays a foundation for the dynamic response analysis of the subsequent parallel robot mechanism. Secondly, by combining the idea of order single open chain method with the principle of virtual work, a general formula for the dynamic response equations of planar and spatial parallel mechanisms is established, which includes two types: 1) the dynamic response model of reaction force without the support of motion pair. Through velocity and acceleration analysis, the motion of mass center of each component is expressed as a function of generalized velocity and acceleration, and the elements in the coefficient matrix of dynamic response equation are obtained by linearization and special assignment of generalized coordinates. In order to avoid complex partial derivative operation of generalized coordinates and improve the efficiency of modeling, the dynamic response model of reaction force with motion pair support is improved, and the method of lifting the constraint of motion pair associated with single open chain and adding generalized coordinate is adopted. Combined with the dynamic static analysis of single open chain, the force of each pair of motion pairs in the running process of the system is obtained, which can effectively reduce the number of constraint equations in dynamic analysis and reduce the computational complexity. Thirdly, taking a planar 3-RRR and space 4-DOF (2SPS-2RPS) parallel robot as an example, the general idea and steps of dynamic response modeling by using order single open chain method are introduced in detail. The dynamic response curves are calculated by Matlab programming, and the dynamic performance of the mechanism is evaluated briefly. The mechanism dynamics analysis is based on the structural and kinematic analysis. The ordered open chain method not only reduces the dimension of the dynamic equation to the minimum. Moreover, the kinematics and dynamics analysis are based on the unified single open chain element model, thus forming a complete and unified mechanism theory.
【學(xué)位授予單位】：南昌大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH112

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