改进型3-rps并联机构的设计与分析-design and analysis of improved 3 - rps parallel mechanism.docxVIP

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改进型3-rps并联机构的设计与分析-design and analysis of improved 3 - rps parallel mechanism.docx

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改进型3-rps并联机构的设计与分析-design and analysis of improved 3 - rps parallel mechanism

AbstractNowadays, the size of large- scale marine propeller is large and the processing equipments have many disadvantages,such as one-surface machining, propeller blade vibration, poor stiffness, repeated clamping and long processing time. The method of double- cutterdouble- surface symmetrical machining is proposed for large-scale marine propeller based on the parallel- serial mechanism. The processing method can overcome proposed disadvantage s, and improve machining efficiency and accuracy. Hybrid mechanis m consists of serial mechanism and Lower-Mobility parallel mechanism, the serial mechanism achieves movement in X, Y-direction and parallel mechanism achieves spindle tool movement in Z-direction and movement with gesture. This paper mainly studies the 3- RPS parallel mechanism of the hybrid mechanism.Firstly, since the motion parameters of Lower-Mobility are coupled, the DOF calculation and the motion parameters are decoupled. Then the positive and inverse of the parallel mechanism with numerical method and the analyt ical method are completed, the speed Jacobian matrix is established , the inverse and forward solution formula of position and velocity are derived. The statics of mechanism is analyzed. The static balance equation is established and the force-Jacobian matrix is obtained. The mapping relationship between the external force and the driving force and the constraint force is determined. The velocity mapping is in contraposit ion with the force mapping.Secondly, the workspace of parallel mechanism is searched by using the limit- boundary method. The structure of each part is designed based on the requirements of the workspace. The right components of the processing equipment are designed and selected, then the model of each part is established by using Solid Works and assembled to a 3D model of 3-RPS parallel mechanism.Then by means of MSC.ADAMS, the virtual prototype of the parallelmechanis m is modeled. By this way,the degree of free