混合驱动机构构型综合及优化设计分析word格式论文.docxVIP

摘要混合驱动机构以普通电动机和伺服电动机作为驱动器，两种类型的输入运动 通过一个多自由度机构合成后实现预期的输出运动，其中普通电动机为系统提供 主要的动力，伺服电动机提供较小动力的同时主要起调节作用。这种机构弥补了 传统机械系统缺乏柔性和全伺服驱动机械系统因柔性过高而造成浪费的缺点，在 理论上比较理想的解决了机械柔性化和保持高速、高效、高负载之间的矛盾。它 是可控机构的一种类型，是目前机构学研究的前沿领域。本文围绕混合驱动机构 的型综合、创新设计及优化综合等问题进行了深入研究：首先，以混合驱动机构二自由度七杆、九杆运动链为研究对象，利用拓扑图支 链法，系统、有序地得到了其所有独立异构的拓扑图，并按照一定的方法将其转 化为运动链图，从而得到了全部的七杆、九杆基本运动链。然后，从运动链自由度的类型出发，将二自由度机构运动链分为总体自由度运 动链、部分自由度运动链和分离自由度运动链三种类型，据此提出了混合驱动机 构运动链的选用原则。其次，以五杆、七杆基本运动链为原型，通过运动副的变换、运动倒置和运动 链的衍生三种机构创新方法，获得了大量的满足混合驱动机械系统各种设计要求 的新运动链及新机构。最后，以RRPRR五杆机构为研究对象，对实现给定函数和给定轨迹的五杆机构 采用两步综合法建立其优化综合的数学模型，并利用MATLAB软件计算获得机构的 尺度参数和补偿运动曲线，通过实例证明了混合驱动RRPRR五杆机构采用这种方 法进行优化综合时，比单自由度机构能更好的实现给定传动函数和给定轨迹。关键词：混合驱动，型综合，创新设计，二自由度，优化设计ABSTRACTHybrid-driven mechanism is driven by two types of motors, namely the general motor which provides the majority of driving power and the servomotor which acts as a low power motion modulation device. These two kinds of inputs are combined by the multiple degree of freedom system to realize anticipative output. The hybrid-driven mechanism can make up for the disadvantages of a conventional machine system that lacks of flexibility and a servo-motor driving mechanical system that will be a waste because of the excessive flexibility . This mechanism can solve contradictions between the mechanical flexibility and the high speed, high precision, high burden in theory. The research of hybrid-driven mechanism which is an important type of controllable mechanisms has already become the frontier area of mechanism. This paper has mainly researched the synthesis of mechanism, the innovative design and the optimized synthesis on the hybrid-driven mechanism.Firstly, the seven-bar and nine-bar kinematic chains with two-degree of freedom are taken as the objects. And their independent topological graphs have been attained by topological branch method. Then a certain method has been used to transform the topological graphs as the kinematic chains(basic kinematic chains).Secondly, based on the types of the degree o