带有约束支链的二自由度绳牵引并联机构的动力学性能分析-机械工程专业论文.docxVIP

河北工业大学硕士学位论文 河北工业大学硕士学位论文 带有约束支链的二自由度绳牵引并联机构的动力学性能分析 带有约束支链的二自由度绳牵引并联机构的动力学性能分析 i i PAGE PAGE iv 带有约束支链的二自由度绳牵引并联机构的动力学 性能分析 摘 要 绳牵引并联机构是近年来出现的一种新型轻质并联机构，它采用绳索代替连杆作为机器 人的驱动单元，结合了绳索驱动和并联机构的优点，具有结构简单、工作空间大、负载能力 大、可重组、易拆装、模块化程度高和运动速度快等特点。该机构经过广泛的研究已经形成 比较完整的体系，形式也多种多样。 本文以带有约束支链的二自由度绳牵引并联机构为研究对象，对该机构进行了运动学分 析、静刚度分析、动力学建模和仿真等，为该类绳牵引并联机构的开发与应用提供了理论指 导，论文的主要内容如下： 1.在分析并联机构构型的基础上，采用 D-H 法则和封闭矢量法建立了绳牵引并联机构的运 动学模型，求解出了位姿反解，速度、加速度反解方程和雅可比矩阵，完成了运动学分析。 2.进行了绳牵引并联机构静力学分析，建立了绳牵引并联机构的静力平衡方程，阐述了 不同的并联机构的刚度和刚度矩阵的定义，推导出了本机构的刚度矩阵，并对机构的一个位 姿的刚度进行了求解，用 Matlab 对机构的刚度条件数和各个方向的刚度进行了仿真分析。 3.利用拉格朗日方程建立了绳牵引并联机构的动力学模型并进行了必要的仿真，得到了 各根绳索的拉力变化规律。 关键词：绳牵引并联机构，约束支链，运动学，静刚度，动力学，动力学仿真 DYNAMICS ANALYSIS OF A TWO DOF WIRE-DRIVEN PARALLEL MECHANISM WITH A CONSTRAINING LINKAGE ABSTRACT The wire-driven parallel mechanism appeared in recent years is a new lightweight type of parallel mechanism. It uses wires instead of links as the robots driving unit, combined with wire drive and the advantage of the parallel mechanism, featured with the advantages of comparatively higher stiffness, precision, load capability and compact structure and comparatively larger workspace. The mechanism after extensive research has been formed relatively complete system, the forms are also varied. This paper treats the chain with constraints of 2-dof wire-driven parallel robot as the research object of the mechanism, completing the analysis of kinematical and static stiffness, the model of dynamics and simulation etc. In order to provide theoretical guidance for this kind of wire-driven parallel robot development and application, the main content of the paper are as follows: The first part is based on the analysis of the parallel mechanism of configuration, adopted the D-H law and closed vector method to establish the wire-driven parallel robot kinematics model, and got a pose the solution, speed, acceleration inverse solutions process and Jacobian matrix, Completed the kinematic analysis. The second part focused on wire-dri