基于单叶双曲面的并联机构各向同性分析-isotropic analysis of parallel mechanism based on hyperboloid of one sheet.docxVIP

AbstractGough-Stewartparallelmanipulator(GSPM)asatypicalsix-DOFplatformhasbeen widelyusedinflightsimulator,parallelrobots,parallelmachineandmulti-DOFvibrationplatformetc.GSPMastheresearchfocushasattractedgreatattentionsoflotsofscholars.AlotofusefulconclusionsaboutGSPM’sstructure,dynamicsandkinematicshavebeenreported.However,withthedevelopmentofscienceandtechnology,traditionalGSPMscannotmeetupwithalldemands,evenwithitshighstiffnessandaccuracy.Dynamicisotropyresearchisrelativelylack ofstudyat homeandabroad,andneedtobefurtherstudied.ThispaperfirstanalyzesdynamicsandkinematicsoftraditionalGSPMs,andthenintroducesanewwayofdescribingGSPMs,usingparametersofcircularhyperboloidofonesheet.Throughthismethod,anewdynamicisotropyindexisproposed,andthedynamicisotropyconditionsarediscussedandpresentedwhichprovidesanewmethodofGSPMstructuraldesign.AfterthediscussionofdynamicisotropyconditionsofGSPMs,thispaperproposescorrespondingwaysofdynamicisotropydesign. Atlastaccordingtohyperboloidparametersanddynamicisotopicindexes,fourtypesofGSPMsaredesigned,andtheirmotion simulationsarerealizedandanalyzed.Keywords:Parallelmanipulators,GSPM,Hyperboloid,Decouple,Isotropy目录摘要....................................................................................................................................IAbstract...............................................................................................................................II第1章绪论....................................................................................................................11.1课题来源及研究意义和任务...............................................................................11.1.1课题来源及研究意义......................................................................................11.1.2课题研究的任务...............................................................................................11.2研究背景..................................................................................................................21.3国内外在该方向的研究现状及分析.