[优秀毕业设计精品] 立式并联机床的理论及应用研究.doc
-1-分类号密级UDC学位论文立式并联机床的理论及应用研究作者姓名:指导教师:副教授申请学位级别:学科类别:工学学科专业名称:机械设计及理论论文提交日期:论文答辩日期:学位授予日期:答辩委员会主席:评阅人:2009年6月-2-立式并联机床的理论及应用研究摘要并联机床PMT(ParallelMachineTool)是上个世纪90年代中期问世的新型制造装备,它是机构学理论、机器人技术和数控技术结合的产物。相对于传统的串联式机床来说,并联机床具有高刚度、高承载能力、高精度以及重量轻、结构简单、制造成本低、标准化程度高等一系列优点,所以它是新一代机床结构的重要发展方向,在许多领域已得到了成功应用,受到国内外学术界的广泛关注。近几年来,少自由度并联机构成为新的研究热点,本文在总结前人对并联机构理论研究的基础上,对2-PRR型并联机床进行了初步性研究,为该机构的进一步研究和发展奠定了基础,也为少自由度并联机构的研究增添了新的结构形式。在运动学分析中,通过建立运动坐标系,对并联机床进行运动分析。该2-PRR型并联机床为平面两自由度机构,在xoy平面内移动,结构简单,组合能力强。建立并联机构的位置、速度、加速度方程。机构的性能分析中,本文通过计算雅可比矩阵来分析并联机构的奇异位置;分析并联机床的工作空间,并结合工作空间综合设计并联机构;计算雅可比矩阵条件数,分析并联机床的灵巧性。动力学分析中,首先对机床进行静力学分析,分析并联机床在静止平衡状态的受力情况。其次对并联机床进行动静力学分析,分析并联机床在动态平衡状态的受力情况,其力学平衡方程加入惯性力及惯性力矩约束。最后对并联机床进行动力学分析,采用拉格朗日方程建立并联机床动力学方程。仿真分析中,利用Matlab-Simulink模块对并联机床进行运动学仿真,得出2-PRR型并联机床的速度,加速度和位移曲线;采用Matlab-SimMechanics模块对并联机床进行动力学逆解求解仿真,得出该2-PRR型并联机床的运动状态和驱动力变化曲线。关键词:并联机床;雅可比矩阵;性能分析;仿真-3-ThetheoryandappliedresearchofverticalparallelMachinetollAbstractParallelMachineTool(PMT)isanewkindofmanufactureequipmentcameforthinthemiddleof90s.Itcombinesmechanicstheory,robottechniqueandnumericaltechnique.Comparedwithconventionalseriesmachinetool,PMTishighrigidity,highload-bearingability,highprecision,lowweight,simplemechanism,lowmanufacturingcost,highstandardization,andsoon.So,itsanimportantdevelopingdirectionofnewmachinetoolmechanism,andithasbeenusedsuccessfullyinmanyfields,whichisattachedmuchimportancetobyresearchersinandout.Thisfewyears,fewdegreeoffreedomPMTisbecomingthenewresearchdirection.Inthispaper,Asummaryofprevioustheoreticalresearchontheparallelmechanism.the2-PRR-typeparallelmachinetooltocarryoutapreliminarystudyoftheinstitutions,whichforfurtherresearchandlaidthefoundationfordevelopment,aswellasaddsthenewformofless-DOFParallelMechanism.Inthekinematicanalysis.Throughtheestablishmentofcoordinatesystemtoanalysisoftheparallelmachinetool.The2-PRR-typeparallelmachinetoolwithtwodegreesoffreedom,inx-yplanemovement,simplestructure,acombinationofgoodcapacity.Theestablishmentofthelocation,velocityandaccelerationequationsofparallelinstitutions.Intheperformanceanalysisofinstitutions,Inthispaper,bycalculatingtheJacobianmatrixtoanalyzethesingularpositionoftheparallelmechanism.Analysisoftheparallelmachinetoolworkingspaceandcombinewiththeworkingspaceintegratedtodesigntheparallelmechanism.CalculationofJacobianmatrixconditionnumbertoanalysistheparallelmachinetooldexterity.Inthekineticanalysis,thefirsttocarryoutstaticanalysis,Analysisofparallelmachinetoolinthestaticequilibriumofforces.Secondtocarryoutdynamicandstaticmechanicalanalysisonparallelmachinetool,Analysisparallelmachinetoolinastateofdynamicequilibriumofforces,addingtheinertialforceandmomentofinertiaconstraintsinthe-4-mechanicalforcebalanceequation.Finally,dynamicanalysisofparallelmachinetool,theusedoftheLagrangesequationtoestablishthedynamicequationsofparallelmachines.Inthesimulationanalysis,theuseofMatlab-Simulinkmoduletocarryoutkinematicssimulationoftheparallelmachinetool,derivedoutthespeed,accelerationanddisplacementcurveof2-PRR-typeparallelmachinetool.theuseofMatlab-SimMechanicsmoduletosolvetheinversedynamicssimulationofparallelmachinetool,derivedouttheparallelmachinetoolmotionstationandthedrivingforcecurve.Keywords:ParallelMachineTool;Jacobianmatrix;performanceanalysis;simulation