摘 要
并聯(lián)機(jī)構(gòu)的研究是機(jī)構(gòu)學(xué)研究的重要方面之一，隨著機(jī)加工的要求不斷的提高，以并聯(lián)機(jī)構(gòu)為基礎(chǔ)的并聯(lián)機(jī)床也越來(lái)越受到重視。并聯(lián)機(jī)構(gòu)的構(gòu)型很多，每個(gè)構(gòu)型運(yùn)動(dòng)特性不盡相同，還有很多深入的工作有待完成。特別是六自由度的機(jī)構(gòu)，運(yùn)動(dòng)機(jī)理更加復(fù)雜，更需要對(duì)其基礎(chǔ)理論方面進(jìn)行深入的研究。文章主要從機(jī)構(gòu)的運(yùn)動(dòng)學(xué)與參數(shù)優(yōu)化著手、圍繞并聯(lián)機(jī)構(gòu)6-PSS的基礎(chǔ)理論進(jìn)行研究。
主要研究?jī)?nèi)容如下：
1. 對(duì)現(xiàn)有的并聯(lián)機(jī)構(gòu)進(jìn)行研究分析，對(duì)已經(jīng)存在并聯(lián)機(jī)構(gòu)進(jìn)行結(jié)構(gòu)改進(jìn)，提出本文研究對(duì)象，并對(duì)該機(jī)構(gòu)進(jìn)行詳細(xì)的結(jié)構(gòu)設(shè)計(jì)。對(duì)并聯(lián)機(jī)構(gòu)進(jìn)行位置分析，建立機(jī)構(gòu)的坐標(biāo)系統(tǒng)，建立其位置正反解的數(shù)學(xué)模型，基于MATLAB軟件采用基于混沌理論的牛頓迭代法求解出位置的正解值，并正反解的求解結(jié)果進(jìn)行驗(yàn)證。
2. 對(duì)并聯(lián)機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)學(xué)分析，提出一種新的從支鏈兩端推導(dǎo)速度與加速度的方法，建立速度與加速度數(shù)學(xué)模型，并對(duì)速度與加速度的反解方程進(jìn)行數(shù)值求解。
3. 對(duì)并聯(lián)機(jī)構(gòu)進(jìn)行工作空間分析，在位置反解的基礎(chǔ)上進(jìn)行定姿態(tài)條件下的工作空間分析，用MATLAB工具軟件對(duì)工作空間進(jìn)行可視化顯示，并詳盡分析工作空間各個(gè)方向切面圖的形狀特性，以及不同尺寸參數(shù)對(duì)工作空間形狀與大小的影響。
4. 對(duì)并聯(lián)機(jī)構(gòu)進(jìn)行尺寸優(yōu)化，根據(jù)機(jī)構(gòu)的結(jié)構(gòu)形式推導(dǎo)出機(jī)構(gòu)的速度數(shù)學(xué)模型、建立雅可比矩陣，并用范數(shù)的形式建立雅可比矩陣條件數(shù)的數(shù)學(xué)模型；對(duì)并聯(lián)機(jī)構(gòu)進(jìn)行參數(shù)歸一化處理后，以條件數(shù)的平均值與波動(dòng)值的綜合值作為目標(biāo)建立目標(biāo)函數(shù)、給出約束條件，最后通過(guò)數(shù)值計(jì)算得到機(jī)構(gòu)雅可比矩陣條件數(shù)的平均值、波動(dòng)值曲線和優(yōu)化目標(biāo)函數(shù)值的曲線圖，優(yōu)化出最佳參數(shù)值。
5. 建立以該并聯(lián)機(jī)構(gòu)為基本構(gòu)架的并聯(lián)機(jī)床的三維模型，并將三維模型導(dǎo)入到ADAMS軟件里，對(duì)其進(jìn)行運(yùn)動(dòng)學(xué)仿真，并將仿真結(jié)果與前面章節(jié)的理論分析結(jié)果進(jìn)行對(duì)比分析。最后用MATLAB構(gòu)建并聯(lián)機(jī)構(gòu)性能分析的原型系統(tǒng)，以便于快速方便的對(duì)該機(jī)構(gòu)的性能進(jìn)行分析。

關(guān)鍵詞 并聯(lián)機(jī)構(gòu)；工作空間；參數(shù)優(yōu)化；運(yùn)動(dòng)仿真；雅可比矩陣條件數(shù)


Abstract
Parallel mechanism research is an important aspect of mechanism kinematics research. Along with the machining requirements of continuous improvement，parallel machine which based on parallel mechanism has attracted more attention. There are many kinds of configuration and every configuration has it’s own movement characteristics, so there still have a lot of in-depth work remains to be done. Especially six degrees of freedom of organization, it’s movement mechanism was more complex, which need more basic theory research of its characteristics. This article mainly embarks on the research of the kinematics and parameter optimization.
This paper focusing on the theory research of parallel mechanism based on 6-PSS. The main research contents are as follows:
1. Research the existing parallel mechanism,carry on the improvement of structure proposed in this paper to study. And on the agency to detailed structure design, make its structure form more suitable for engineering application. Organization coordinate system of the parallel mechanism positive and negative solutions to its location mathematical modeling was established. MATLAB software was used to solve the position of positive solutions for value by Newton iteration method. And positive and negative solutions results of solving were verified.
2. Parallel mechanism kinematics analysis, this paper proposed a new method of establishing velocity and acceleration mathematical modeling and inverse equation of Speed and acceleration were numerically solved.
3. Working space analysis of parallel mechanism; Work space of the parallel mechanism was analyzed of the posture conditions based on solving inverse solution position equation. Working.space visual display was realized by MATLAB tool software with detailed analysis of each direction cut-side graph shape characteristics of working space and influence of different parameters to the workspace shape and size.
4. Parallel mechanism for size optimization; According to the organization structure forms deduced institutions speed mathematical model and establishment jacobian matrix, then establish jacobian matrix mathematics model of condition number. The parameters of parallel mechanism normalized, establish objective functions with the average of the condition number with fluctuation comprehensive value as a target and give constraint condition. Finally jacobian matrix condition number average values, fluctuation curves values and optimize values of the objective function of graph are calculated by numerical institutions, the optimized optimal parameter values are given out.
5. A 3d model of parallel machine tool was established based on the basic framework of the parallel mechanism. Import the 3d model into the ADAMS software, and carry on the kinematics simulation, and the simulation results with the preceding chapter of theoretical analysis results and the simulation analysis results are compared and analyzed.


Key words Parallel mechanism；Working space；Parameters optimization；Movement simulation；Jacobian matrix condition number


目 錄
摘 要 I
Abstract III
第1章 緒 論 1
1.1 課題研究的意義 1
1.2 并聯(lián)機(jī)構(gòu)的發(fā)展概述 1
1.2.1 國(guó)外并聯(lián)機(jī)構(gòu)的發(fā)展概況 1
1.2.2 國(guó)內(nèi)并聯(lián)機(jī)構(gòu)的發(fā)展概況 2
1.2...