【作者】 张英；

【导师】 李佳；

【作者基本信息】 天津大学 ， 机械制造及其自动化， 2005， 硕士

【摘要】 本文结合职业教育教学改革需要,利用国家863高新技术发展项目理论研究成果和国内专利,设计开发了低成本、教学型串—并混联装配机械手实验设备。文章首先提出教学实验的具体要求,并据此进行实验设备的总体方案设计,在此基础上,进行了实验设备的初步结构设计。然后采用标量法建立并联机构运动学正、逆解模型,得出机械手位移、速度标量表达式,为数控系统软件设计奠定基础。紧接着,根据可兼顾雅可比矩阵条件数全域均值和波动量间关系的全域综合性能指标,同时引入机构的传力性能、工作空间/机构体积比、以及工程可行性等一系列约束条件,将尺度综合问题归结为一类有约束非线性规划问题。针对教学实验的实际需要,设计得到机构最优尺度参数。在此基础上,借助ANSYS有限元软件,分析动平台位于工作空间中典型位置时机构的刚度和固有频率。针对与并联机构运动平面正交方向机构刚度较差的情况,提出结构改进方案,并成功地应用于机械手实验装置的开发。最后,根据机构逆动力学模型,采用了奇异值分解原理确定伺服电机参数的新方法,建立了关节变量上界与单位操作变量间的映射关系,进而预估出伺服电机参数。更多还原

【Abstract】 This dissertation is focused on the development of low cost educational serial-parallel structured robot, which is refer to the work of national “863”High-TechProject and patent to meet the need of the reformation of the occupation education.The following works have been completed.Firstly a teaching experiment request is presented.On the basis of which theoverall project is designed. Secondly the model of parallel robot’s forward and inversekinematics have been set up with the adoption of scalar quantity, which will lay thefoundation for the development of CNC system. the topic of dimensional synthesis isa class of constrained nonlinear programming problem. Considering the relationshipof global and comprehensive performance index which has paid attention to both themean value and range of the condition number of Jacobian matrix in the taskworkspace and a set of appropriate constraints has been considered in terms of theforce transmission behavior, the workspace/machine volume ratio, and the feasibilityin practical implementation.The static and dynamics stiffness are analyzed when themoving plate is arbitrarily set in different positions in the working space by means ofthe commercial software ANSYS. Since the stiffness in the direction perpendicular tothe working plane is rather lower than the other two orthogonal directions, somemethods are presented to improve the stiffness. These methods have been successfullyapplied to the development of the robot. Finally with the aid of the dynamic model ofthe robot ,an approach to estimate the servo motor parameters is adopted using thesingular value decomposition technique. The relation for the mapping functionbetween the maximum value of joint variables and the unit operation variables hasbeen founded up. And the servo motor parameters are estimated.更多还原