基于刚柔结合的并联机构研究-机械电子工程专业论文.docxVIP

沈阳理工大学硕士学位论文 沈阳理工大学硕士学位论文 Abstract Parallel mechanisms have been used more and more extensive because of the characteristic of high rigidity, strong capacity and compact structure. Parallel Wire-driven Manipulator (PWM) which developed recently from 80s， has been receiving increasing attention of members from academia, due to its portability and large workspace. From the performance of traditional parallel mechanism and make full use of the characteristics of PWM , one new type of parallel mechanism on the base of rigid-flexible combination is bring up, configuration, kinematics, dynamics, vibration and simulation problems are studied in-depth. First of all, based on the design of its combination，the research of precision、 plane’s forward kinematics、inverse kinematics and Jacques matrix of velocity are present .The dynamic equation is obtained by use the law of Newton – Euler. To combine the result of theory analysis, two virtual models are built by use of ADAMS, then the kinematics and dynamics simulation was studied. The result that performance of dynamics has been upgrade is approved by comparison of the curves. The models that vibration analysis needs are constructed out. Analysis of vibration is finished by use the ADAMS/Vibration, frequency response curves are output, and the agencys dynamic characteristics have improved by impose a soft demand. The above study proves that the parallel mechanisms based on combination of rigid-flexible improved accuracy of the agency while maintaining the original characteristics of the institution, and suppressed the vibration question effectively, settled good foundation for application of the organization. Key words: Parallel mechanism; Combination of rigid-flexible; ADAMS; Simulation; Vibration 沈阳理工大学 硕士学位论文原创性声明 本人郑重声明:本论文的所有工作，是在导师的指导下，由作者本 人独立完成的。有关观点、方法、数据和文献的引用已在文中指出， 并与参考文献相对应。除文中已注明引用的内容外，本论文不包含任 何其他个人或集体已经公开发表的作品成果。对本文的研究做出重要 贡献的个人和集体，均己在文中以明确方式标明。本人完全意识到本 声明的法律结果由本人承担。