混合驱动机构构型综合及优化设计研究

混合驱动机构构型综合及优化设计研究重庆大学硕士学位论文学生姓名：侯少毅指导教师：秦伟教授专业：机械设计及理论学科门类：工学重庆大学机械工程学院二OO八年四月StudyonConfigurationSynthesisandOptimalDesignforHybridDrivenMechanismAThesisSubmittedtoChongqingUniversityinPartialFulfillmentoftheRequirementfortheDegreeofMasterofEngineeringbyHouShaoyiSupervisor:Prof.QinWeiMajor:MechanicalDesign&TheoryCollegeofMechanicalEngineeringofChongqingUniversity,Chongqing,ChinaApril,2008中文摘要I摘要混合驱动机构以普通电动机和伺服电动机作为驱动器，两种类型的输入运动通过一个多自由度机构合成后实现预期的输出运动，其中普通电动机为系统提供主要的动力，伺服电动机提供较小动力的同时主要起调节作用。这种机构弥补了传统机械系统缺乏柔性和全伺服驱动机械系统因柔性过高而造成浪费的缺点，在理论上比较理想的解决了机械柔性化和保持高速、高效、高负载之间的矛盾。它是可控机构的一种类型，是目前机构学研究的前沿领域。本文围绕混合驱动机构的型综合、创新设计及优化综合等问题进行了深入研究：首先，以混合驱动机构二自由度七杆、九杆运动链为研究对象，利用拓扑图支链法，系统、有序地得到了其所有独立异构的拓扑图，并按照一定的方法将其转化为运动链图，从而得到了全部的七杆、九杆基本运动链。然后，从运动链自由度的类型出发，将二自由度机构运动链分为总体自由度运动链、部分自由度运动链和分离自由度运动链三种类型，据此提出了混合驱动机构运动链的选用原则。其次，以五杆、七杆基本运动链为原型，通过运动副的变换、运动倒置和运动链的衍生三种机构创新方法，获得了大量的满足混合驱动机械系统各种设计要求的新运动链及新机构。最后，以RRPRR五杆机构为研究对象，对实现给定函数和给定轨迹的五杆机构采用两步综合法建立其优化综合的数学模型，并利用MATLAB软件计算获得机构的尺度参数和补偿运动曲线，通过实例证明了混合驱动RRPRR五杆机构采用这种方法进行优化综合时，比单自由度机构能更好的实现给定传动函数和给定轨迹。关键词：混合驱动，型综合，创新设计，二自由度，优化设计重庆大学硕士学位论文II英文摘要IIIABSTRACTHybrid-drivenmechanismisdrivenbytwotypesofmotors,namelythegeneralmotorwhichprovidesthemajorityofdrivingpowerandtheservomotorwhichactsasalowpowermotionmodulationdevice.Thesetwokindsofinputsarecombinedbythemultipledegreeoffreedomsystemtorealizeanticipativeoutput.Thehybrid-drivenmechanismcanmakeupforthedisadvantagesofaconventionalmachinesystemthatlacksofflexibilityandaservo-motordrivingmechanicalsystemthatwillbeawastebecauseoftheexcessiveflexibility.Thismechanismcansolvecontradictionsbetweenthemechanicalflexibilityandthehighspeed,highprecision,highburdenintheory.Theresearchofhybrid-drivenmechanismwhichisanimportanttypeofcontrollablemechanismshasalreadybecomethefrontierareaofmechanism.Thispaperhasmainlyresearchedthesynthesisofmechanism,theinnovativedesignandtheoptimizedsynthesisonthehybrid-drivenmechanism.Firstly,theseven-barandnine-barkinematicchainswithtwo-degreeoffreedomaretakenastheobjects.Andtheirindependenttopologicalgraphshavebeenattainedbytopologicalbranchmethod.Thenacertainmethodhasbeenusedtotransformthetopologicalgraphsasthekinematicchains(basickinematicchains).Secondly,basedonthetypesofthedegreeoffreedomthatkinematicchainwith,thekinematicchainswithtwo-degreeoffreedomhavebeendividedintothreetypesincludingthekinematicchainswithoverall-degreeoffreedom,thekinematicchainswithpartial-degreeoffreedomandthekinematicchainswithseparation-degreeoffreedom.Hereby,theselectionprinciplesofthehybrid-drivenmechanismwereproposed.Thirdly,thefive-barandseven-barkinematicchainswhichattainedfromtheconfigurationsynthesisaretakenastheprototypes.Alargenumberofnewkinematicchainsandnewmechanismsobtainedbykinematicpairstransforming,kinematicconvertingandderivingfromkinematicchain.Thenewkinematicchainsandnewmechanismscansatisfymanydesignrequirementsofhybrid-drivenmachinesystems.Finally,thispaperestablishedthemathematicsmodelsofRRPRRfive-barmechanismoptimalsynthesiswithtwo-stepsynthesismethodtorealizethegivenfunctionandgivenpath.ThedimensionparametersandthecompensationmovementcurvegainedbyusingofMATLAB.Theresultsofoptimalsynthesisexamplesverifies重庆大学硕士学位论文IVthattheRRPRRfive-barmechanismissuperiortosingle-degreeoffreedommechanisminrealizingthegivenfunctionandthegivenpath.Keywords:Hybrid-DrivenMechanism,ConfigurationSynthesis,InnovativeDesign,Two-DegreeofFreedom,OptimalDesign.目录V目录中文摘要........................................................................................................I英文摘要......................................................................................................III1绪论............................................................................................................11.1课题背景.................................................................................................11.2混合驱动机构基础理论的研究现状...............................................................31.3机构构型综合及创新设计的主要研究方法......................................................41.3.1机构构型综合的主要研究方法.............................................................41.3.2机构创新设计的主要研究方法..............................................................51.4混合驱动机构的应用.................................................................................61.5课题意义及研究内容.................................................................................61.5.1课题意义........................................................................................61.5.2本文研究的主要内容.........................................................................72混合驱动机构运动链的构型综合..........................................................92.1拓扑图支链法...........................................................................................92.1.1运动链及其组成...............................................................................92.1.2拓扑图及拓扑胚图............................................................................92.1.3杆型的分类与支链..........................................................................102.2平面二自由度机构运动链构型综合...........................