3-UPU并联实验台的研究与开发

【作者】 李强；

【导师】 魏永庚；

【作者基本信息】 黑龙江大学 ， 检测技术与自动化装置， 2016， 硕士

【摘要】 传统机构大部分都是串联机构,串联机构有其自身的优势,但也存在一定的弊端。并联机构的出现很好的解决了传统串联机构存在的一些问题。然而在有些应用场合,并不是所有的6个自由度都会用到。因此少自由度并联机构得到了学者们的关注,成为研究的热点。其中3自由度移动并联机构更是应用十分广泛。本文研究的是一种基于3-UPU并联机构的3自由度移动并联实验台。主要对其进行结构本体设计和控制系统人机界面的设计。首先,基于螺旋理论对该机构进行了自由度的求解验证,然后根据该并联机构的结构特点和连接方式,建立了位置矢量方程,推导出位置正解和位置反解的计算公式,对该机构的性能指标进行分析,并对结构参数进行优化,最后得到实验台的具体尺寸参数。其次,对该并联实验台的本体进行具体的结构设计。利用Pro/E对该实验台进行了三维建模,并将三维模型导入到ADAMS中进行运动仿真分析,从而验证了理论推导和结构设计的正确性。在理论公式推导和虚拟样机运动仿真分析的基础上,设计并制造装配出实际的并联实验台本体。最后,对该并联实验台的上位机软件部分进行设计,利用Visual C++6.0中的MFC类库完成人机界面的设计。通过该界面实现实验台的运动状态监测和实时性操作等内容。主要负责监测电机的运动状态、操作功能的选择和参数的设置等内容。建立上位机PC机与下位机PMAC卡之间的通讯。在完成以上具体工作后,对实验台进行安装和调试,并简单的对该实验台进行实验操作。最终结果表明:该实验台的理论推导和结构设计均正确,控制系统软件设计合理,实验台可以完成简单的运动,达到了课题阶段性的研究目标。更多还原

【Abstract】 Most of traditional mechanisms are in series.They have their own advantages,but there are also some disadvantages.Parallel mechanism was well to solve some problems of the serial mechanism.In some applications,however,not all of the six degrees of freedom are used.So less degrees of freedom parallel mechanism got the attention of many scholars,becoming a hot spot of research.Three degrees of freedom translational parallel mechanism is used very widely.In this paper,we study a kind of three degrees of freedom translational parallel test bench which is based on the 3-UPU parallel mechanism.Mainly carries on the design of body structure and the man-machine interface of control system.Firstly,based on the screw theory to calculate the degrees of freedom.Then established the position vector equation according to the structure characteristic and the connection mode of parallel mechanism,derived location positive solutions and inverse solution.Analyzed performance index of this mechanism,and then finished specific parameters optimization.Finally,obtained the parameters of the test bench.Additionally,finished the structure design of the parallel test bench.Designed a 3 D Modeling of this parallel test bench by Pro/E,and then imported it into the ADAMS finished the motion simulation analysis to verify the validity of the theoretical derivation and structure design.Based on the theoretical formula and analysis of the motion simulation,designed and manufactured the practical parallel test bench.Finally,finished the PC software design of the parallel test bench,using the MFC class library of Visual C++ 6.0 to design MHI.Through the interface to realize the movement of the test bench condition monitoring and real-time operation etc.Mainly be responsible for the monitoring of the motor motion state,the choice of operation function and parameter setting,etc.Establish a communication between PC machine and PMAC card.After finished the specific job,installed and debugged the test bench.Control the test bench to finish simple operation.The final result show that the theoretical derivation and structure design are all right,control system software design is reasonable,reached the stage of studying target.更多还原