【作者】 石奇端；

【导师】 马履中；

【作者基本信息】 江苏大学 ， 机械设计及理论， 2007， 硕士

【摘要】 随着科技的发展，多维振动问题已成为影响各种机械设备、精密仪器仪表、车载、船载、航空、航天等相关设备的性能和使用寿命的主要原因，因而多维减振就成为国内外急需解决的一个技术难题，实施多维减振就具有重要的现实意义。本论文在国家自然科学基金项目“仿橡胶多维减振平台设计的系统理论与非线性解耦控制(50375067)”的资助下，首次提出将六自由度并联机构用作六维减振平台的主体机构，并在机构原动件处辅以弹性阻尼系统，实现能量吸收及动力自适应平衡，从而实现多维减振。首先，以并联机构拓扑结构型综合基本理论为基础，对六自由度并联机构的构型进行综合，得到了一百多种可用作减振平台的并联机构；然后根据减振平台机型的选取原则初步选出了三种机型，并对选出的三种机型在耦合度和减振效果等方面进行了比较分析，最后选出了耦合度小、减振效果最好的机型。其次，对选出的最优机型进行了运动学和动力学分析。运动学分析包括机构的位置正反解、速度、加速度、工作空间等方面。其中用机构数学中的坐标变换法对其进行位置正反解分析，并用MATLAB软件编制位置正反解程序进行了计算验证；用影响系数方法对其速度和加速度进行了分析，用直角坐标形式搜索的方法对平台定姿态的工作空间(可达工作空间)进行了研究，并用MATLAB软件编制程序绘制了工作空间图形。基于Kane方法对减振平台进行了动力学分析，主要分析了机构中各个支路平衡驱动力的研究；依据ADAMS软件建立此机构的虚拟样机，并进行了运动学和动力学仿真分析。最后，加工制造出此机型，并在试验台上做了减振实验，仿真和实验结果说明了此减振装置有良好的减振特性，有广泛的应用前景。总之，基于并联机构的多维减振平台系统是多维减振领域里的新理念、新突破，且具有结构简单，机型紧凑，精确度高，部分或完全解耦的机型易于控制等特点。因此，此类多维减振系统有望在多个行业得到应用。更多还原

【Abstract】 With the development of science and technology, multi-DIM vibration has been the main reason that influences the performance and operating life of mechanical devices, precise instruments, equipment of vehicles and ships, aerospace equipment and so on. So multi-DIM vibration is a puzzle that needs solving at home and abroad, and there is actual meaning to put multi-DIM vibration absorber into effect.Supported by the National Science Foundation project—systematic theory of design and nonlinear decoupling control of multi-DIM vibration absorber imitating rubber(50375067), this paper firstly presents that 6-DOF parallel mechanisms are used as the main mechanism of six-DIM vibration absorber, associating elastic damping system at the primary component of mechanism. So energy absorption and power adaptive balance can be realized, consequently multi-DIM vibration absorption are realized. Firstly, Based on the basic theory of topology structure type synthesis of parallel mechanism, the configurations of 6-DOF parallel mechanism are synthesized, and more than a hundred types of parallel mechanisms that can be used as vibration absorbers are obtained, then three kind of mechanisms are initially selected according to the principles of selecting parallel mechanism as the main mechanism of vibration absorber, comparing them at the aspects of coupling and vibration absorption, the best one is selected as the main mechanism of 6-DIM vibration absorber.Secondly, this paper does the kinematics and dynamics analyses of the selected one. Kinematics analysis includes analyzing of forward and inverse position, velocity, acceleration, workspace and so on. The forward and inverse position analyses are done with coordinates transition methods of mechanism maths, and the calculation is done by programming with MATLAB to verify forward and inverse position analyses. Analyses of velocity and acceleration are done using influence coefficient method. The workspace is searched with MATLAB program in right-angle coordinate space. This paper also does the dynamics analysis wiry Kane method, which mainly studies the driving forces for balance of every branch. Besides, virtual prototype of selected parallel mechanism is founded and simulations of kinematics、dynamics are done.Finally, the selected mechanism is manufactured and tested it in the lab. The results of test and simulation prove that this device has good property of vibration absorbing and can be widely used in many fields. In a word, the multi-DIM vibration absorber system basing on parallel mechanism is a new idea and breakthrough in multi-DIM vibration absorption field, which has the characteristic of simple structure, compact mechanism, high accuracy, partially or fully decoupled mechanism easy for control and so on. Therefore, this kind of multi-DIM vibration absorber system can be hopefully used in many fields.更多还原