刚性变胞机构的结构学、运动学及动力学研究

【作者】 吴艳荣；

【导师】 金国光；

【作者基本信息】 天津工业大学 ， 机械电子工程， 2007， 硕士

【摘要】 本学位论文根据变胞机构的变胞原理，提出了变胞机构的三种变胞过程：杆件增加、杆件减少和杆件数不变仅拓扑结构发生变化。在研究了变胞机构的三种变胞过程后，提出用邻接矩阵变换的方法来描述变胞机构的变胞过程，同时提出用于相应邻接矩阵变换的四种初等矩阵。采用矩阵变换法来描述机构的变胞过程，将变胞机构的构态变换转化为一系列矩阵运算，普遍适用于各种变胞机构的构态变换分析。提出了用于变胞机构结构设计的三种方法：变约束运动副法、限动运动件法和模块组合法。变约束运动副法和限动运动件法主要用于变胞机构在全构态运动过程中机构构件数不变而自由度发生变化的情况；模块组合法主要用于变胞伸展或折叠机构的设计。采用齐次坐标变换和Huston低序体阵列相结合的方法来描述相邻构件之间的变换关系，根据各构件之间的递推关系推导出变胞机构各构件的运动学关系，建立了变胞机构任意构态q之典型体k上任意点P的位置、速度和加速度数学模型。通过分析变胞机构的特殊构态——变胞机构各个构态中杆件数和广义坐标数最多的构态，以及构态切换前后系统动能、势能的变化关系，根据结构学与运动学的有关结论，建立了变胞机构全构态拉格朗日动力学方程。研究了如何使用ADAMS软件对变胞机构进行建模和仿真。利用ADAMS软件减少了用户从数学上对机构的动力学方程及其求解进行的一系列繁琐的分析、推导和论证。使用ADAMS软件对变胞机构进行的运动学和动力学仿真，证明了所建立的运动学和动力学模型的正确性。更多还原

【Abstract】 In this thesis, three metamorphic processes are put forward based on the metamorphic principle of metamorphic mechanism. That is the member-increased, the member-decreased, and the member-unchanged but changing its configuration. After researching the three processes of metamorphic mechanism’s structure changing, the methods of describing the metamorphic mechanism’s structure changing by using the transformation of adjacent matrix are put forward. Four kinds of elementary matrixes which are used to transform adjacent matrix are also put forward. The matrix transformation, which is used to describe the processes of metamorphic mechanism’s structure changing, can translate the structure changing of metamorphic mechanism to a series of matrix operation. This method can be used in the analysis of all kinds of metamorphic mechanisms’ configuration transformation.Three structural design methods of metamorphic mechanism are introduced, that is changing kinematic pair, restricting members and module combination. Changing kinematic pair method and restricting members method are mainly used in the states which its members are fixed and freedom is changed during the movement of metamorphic mechanisms. Module combination method is used to design erectable or foldable metamorphic mechanisms.The adjacent members’ relationship is described by homogeneous transformation matrix and Huston lower numbered arrays. The kinematics relationship is educed based on the successive relationship of every member. And the mathematic models of position, velocity and acceleration of any point P in typical body k which belongs to configuration q are established.According to a special configuration which including the maximal number of members and freedom for a metamorphic mechanism, the relationship of kinetic energy and potential energy before and after the configuration, and the relative results of structure theory and kinematics, the configuration-complete Lagrangian dynamic equations of metamorphic mechanism are established.The methods of how to model and simulate the metamorphic mechanism are studied by ADAMS software. A series of fussy analysis, reasoning, demonstration about dynamic equations and calculating process for the metamorphic mechanism are reduced by using ADAMS software. The correctness of kinematic and dynamic equations is proved by the results of kinematic and dynamic simulation of metamorphic mechanism.更多还原