混合驱动机构构型综合及优化设计研究
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III
重庆大学硕士学位论文
that the RRPRR five-bar mechanism is superior to single-degree of freedom mechanism in realizing the given function and the given path. Keywords: Hybrid-Driven Mechanism, Configuration Synthesis, Innovative Design, Two-Degree of Freedom, Optimal Design.
A Thesis Submitted to Chongqing University in Partial Fulfillment of the Requirement for the Degree of Master of Engineering by Hou Shaoyi
Supervisor: Prof. Qin Wei Major: Mechanical Design & Theory
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 专 伟 教授
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
Study on Configuration Synthesis and Optimal Design for Hybrid Driven Mechanism
IV
目
录Hale Waihona Puke Baidu
目
录
中文摘要........................................................................................................ I 英文摘要...................................................................................................... III 1 绪论............................................................................................................ 1 1.1 课题背景.................................................................................................1 1.2 混合驱动机构基础理论的研究现状 ...............................................................3 1.3 机构构型综合及创新设计的主要研究方法 ......................................................4 1.3.1 机构构型综合的主要研究方法 .............................................................4 1.3.2 机构创新设计的主要研究方法 ..............................................................5 1.4 混合驱动机构的应用 .................................................................................6 1.5 课题意义及研究内容 .................................................................................6 1.5.1 课题意义 ........................................................................................6 1.5.2 本文研究的主要内容 .........................................................................7 2 混合驱动机构运动链的构型综合 .......................................................... 9 2.1 拓扑图支链法...........................................................................................9 2.1.1 运动链及其组成 ...............................................................................9 2.1.2 拓扑图及拓扑胚图 ............................................................................9 2.1.3 杆型的分类与支链 .......................................................................... 10 2.2 平面二自由度机构运动链构型综合 ............................................................. 10 2.2.1 九杆机构运动链的构型综合 .............................................................. 11 2.2.2 七杆机构运动链的构型综合 .............................................................. 19 2.2.3 运动链的生成 ................................................................................ 20 2.3 混合驱动机构运动链自由度类型的判断及选用原则 ......................................... 20 2.3.1 运动链自由度的类型 ....................................................................... 20 2.3.2 自由度类型的判断 .......................................................................... 21 2.3.3 混合驱动机构的选用原则 ................................................................. 23 2.4 本章小结............................................................................................... 23 3 混合驱动机构创新设计 ......................................................................... 25 3.1 运动副变换 ............................................................................................ 25 3.1.1 运动副变换的基本原则及分析方法 ...................................................... 26 3.1.2 转动副与移动副的转化 .................................................................... 26 3.1.3 齿轮高副与转动副的替代 ................................................................. 29
I
重庆大学硕士学位论文
II
英文摘要
ABSTRACT
Hybrid-driven mechanism is driven by two types of motors, namely the general motor which provides the majority of driving power and the servomotor which acts as a low power motion modulation device. These two kinds of inputs are combined by the multiple degree of freedom system to realize anticipative output. The hybrid-driven mechanism can make up for the disadvantages of a conventional machine system that lacks of flexibility and a servo-motor driving mechanical system that will be a waste because of the excessive flexibility . This mechanism can solve contradictions between the mechanical flexibility and the high speed, high precision, high burden in theory. The research of hybrid-driven mechanism which is an important type of controllable mechanisms has already become the frontier area of mechanism. This paper has mainly researched the synthesis of mechanism, the innovative design and the optimized synthesis on the hybrid-driven mechanism. Firstly, the seven-bar and nine-bar kinematic chains with two-degree of freedom are taken as the objects. And their independent topological graphs have been attained by topological branch method. Then a certain method has been used to transform the topological graphs as the kinematic chains(basic kinematic chains). Secondly, based on the types of the degree of freedom that kinematic chain with, the kinematic chains with two-degree of freedom have been divided into three types including the kinematic chains with overall-degree of freedom, the kinematic chains with partial-degree of freedom and the kinematic chains with separation-degree of freedom. Hereby, the selection principles of the hybrid-driven mechanism were proposed. Thirdly, the five-bar and seven-bar kinematic chains which attained from the configuration synthesis are taken as the prototypes. A large number of new kinematic chains and new mechanisms obtained by kinematic pairs transforming, kinematic converting and deriving from kinematic chain. The new kinematic chains and new mechanisms can satisfy many design requirements of hybrid-driven machine systems. Finally, this paper established the mathematics models of RRPRR five-bar mechanism optimal synthesis with two-step synthesis method to realize the given function and given path. The dimension parameters and the compensation movement curve gained by using of MATLAB. The results of optimal synthesis examples verifies
College of Mechanical Engineering of Chongqing University, Chongqing, China
April, 2008
中文摘要
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
that the RRPRR five-bar mechanism is superior to single-degree of freedom mechanism in realizing the given function and the given path. Keywords: Hybrid-Driven Mechanism, Configuration Synthesis, Innovative Design, Two-Degree of Freedom, Optimal Design.
A Thesis Submitted to Chongqing University in Partial Fulfillment of the Requirement for the Degree of Master of Engineering by Hou Shaoyi
Supervisor: Prof. Qin Wei Major: Mechanical Design & Theory
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 专 伟 教授
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
Study on Configuration Synthesis and Optimal Design for Hybrid Driven Mechanism
IV
目
录Hale Waihona Puke Baidu
目
录
中文摘要........................................................................................................ I 英文摘要...................................................................................................... III 1 绪论............................................................................................................ 1 1.1 课题背景.................................................................................................1 1.2 混合驱动机构基础理论的研究现状 ...............................................................3 1.3 机构构型综合及创新设计的主要研究方法 ......................................................4 1.3.1 机构构型综合的主要研究方法 .............................................................4 1.3.2 机构创新设计的主要研究方法 ..............................................................5 1.4 混合驱动机构的应用 .................................................................................6 1.5 课题意义及研究内容 .................................................................................6 1.5.1 课题意义 ........................................................................................6 1.5.2 本文研究的主要内容 .........................................................................7 2 混合驱动机构运动链的构型综合 .......................................................... 9 2.1 拓扑图支链法...........................................................................................9 2.1.1 运动链及其组成 ...............................................................................9 2.1.2 拓扑图及拓扑胚图 ............................................................................9 2.1.3 杆型的分类与支链 .......................................................................... 10 2.2 平面二自由度机构运动链构型综合 ............................................................. 10 2.2.1 九杆机构运动链的构型综合 .............................................................. 11 2.2.2 七杆机构运动链的构型综合 .............................................................. 19 2.2.3 运动链的生成 ................................................................................ 20 2.3 混合驱动机构运动链自由度类型的判断及选用原则 ......................................... 20 2.3.1 运动链自由度的类型 ....................................................................... 20 2.3.2 自由度类型的判断 .......................................................................... 21 2.3.3 混合驱动机构的选用原则 ................................................................. 23 2.4 本章小结............................................................................................... 23 3 混合驱动机构创新设计 ......................................................................... 25 3.1 运动副变换 ............................................................................................ 25 3.1.1 运动副变换的基本原则及分析方法 ...................................................... 26 3.1.2 转动副与移动副的转化 .................................................................... 26 3.1.3 齿轮高副与转动副的替代 ................................................................. 29
I
重庆大学硕士学位论文
II
英文摘要
ABSTRACT
Hybrid-driven mechanism is driven by two types of motors, namely the general motor which provides the majority of driving power and the servomotor which acts as a low power motion modulation device. These two kinds of inputs are combined by the multiple degree of freedom system to realize anticipative output. The hybrid-driven mechanism can make up for the disadvantages of a conventional machine system that lacks of flexibility and a servo-motor driving mechanical system that will be a waste because of the excessive flexibility . This mechanism can solve contradictions between the mechanical flexibility and the high speed, high precision, high burden in theory. The research of hybrid-driven mechanism which is an important type of controllable mechanisms has already become the frontier area of mechanism. This paper has mainly researched the synthesis of mechanism, the innovative design and the optimized synthesis on the hybrid-driven mechanism. Firstly, the seven-bar and nine-bar kinematic chains with two-degree of freedom are taken as the objects. And their independent topological graphs have been attained by topological branch method. Then a certain method has been used to transform the topological graphs as the kinematic chains(basic kinematic chains). Secondly, based on the types of the degree of freedom that kinematic chain with, the kinematic chains with two-degree of freedom have been divided into three types including the kinematic chains with overall-degree of freedom, the kinematic chains with partial-degree of freedom and the kinematic chains with separation-degree of freedom. Hereby, the selection principles of the hybrid-driven mechanism were proposed. Thirdly, the five-bar and seven-bar kinematic chains which attained from the configuration synthesis are taken as the prototypes. A large number of new kinematic chains and new mechanisms obtained by kinematic pairs transforming, kinematic converting and deriving from kinematic chain. The new kinematic chains and new mechanisms can satisfy many design requirements of hybrid-driven machine systems. Finally, this paper established the mathematics models of RRPRR five-bar mechanism optimal synthesis with two-step synthesis method to realize the given function and given path. The dimension parameters and the compensation movement curve gained by using of MATLAB. The results of optimal synthesis examples verifies
College of Mechanical Engineering of Chongqing University, Chongqing, China
April, 2008
中文摘要
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