stewart平臺(tái)電液驅(qū)動(dòng)機(jī)構(gòu)設(shè)計(jì)【六自由度運(yùn)動(dòng)平臺(tái)】

stewart平臺(tái)電液驅(qū)動(dòng)機(jī)構(gòu)設(shè)計(jì)【六自由度運(yùn)動(dòng)平臺(tái)】,六自由度運(yùn)動(dòng)平臺(tái),stewart平臺(tái)電液驅(qū)動(dòng)機(jī)構(gòu)設(shè)計(jì)【六自由度運(yùn)動(dòng)平臺(tái)】,stewart,平臺(tái),驅(qū)動(dòng),機(jī)構(gòu),設(shè)計(jì),自由度,運(yùn)動(dòng) Stewart平臺(tái)電液驅(qū)動(dòng)機(jī)構(gòu)設(shè)計(jì) 摘 要 Stewart平臺(tái)是六自由度并聯(lián)機(jī)構(gòu)的基礎(chǔ)平臺(tái)。Stewart平臺(tái)具有諸多優(yōu)良特性，它在許多領(lǐng)域得到了廣泛應(yīng)用。六自由度運(yùn)動(dòng)平臺(tái)由于應(yīng)用場(chǎng)合不同，采用不同的驅(qū)動(dòng)方式。目前，這種并聯(lián)機(jī)構(gòu)驅(qū)動(dòng)方式主要包括電機(jī)驅(qū)動(dòng)滾珠絲杠驅(qū)動(dòng)方式、閥控液壓缸驅(qū)動(dòng)方式、氣動(dòng)人工肌肉驅(qū)動(dòng)方式、電動(dòng)液壓混合執(zhí)行器驅(qū)動(dòng)方式、壓電陶瓷驅(qū)動(dòng)方式、電機(jī)驅(qū)動(dòng)滑輪鋼索驅(qū)動(dòng)方式等。閥控液壓缸驅(qū)動(dòng)方式的優(yōu)點(diǎn)是剛度大、抗干擾能力強(qiáng)、功率-重量比和力矩-慣量比大、響應(yīng)速度快、系統(tǒng)頻帶寬。對(duì)該平臺(tái)的驅(qū)動(dòng)機(jī)構(gòu)設(shè)計(jì)對(duì)于深刻理解并聯(lián)機(jī)床和運(yùn)動(dòng)模擬器的機(jī)理具有重要的意義. 本文的核心是研制一個(gè)滿足實(shí)驗(yàn)要求Stewart平臺(tái)的驅(qū)動(dòng)機(jī)構(gòu)，為了完成此機(jī)構(gòu)的優(yōu)化設(shè)計(jì)，本文主要從以下三個(gè)方面進(jìn)行了理論分析。 對(duì)Stewart平臺(tái)的運(yùn)動(dòng)學(xué)參數(shù)進(jìn)行了理論分析和計(jì)算。重點(diǎn)分析了動(dòng)平臺(tái)的位置、速度和加速度和支撐桿的相應(yīng)參數(shù)之間的關(guān)系。 對(duì)Stewart平臺(tái)的驅(qū)動(dòng)機(jī)構(gòu)進(jìn)行了設(shè)計(jì)和校核,并對(duì)液壓伺服系統(tǒng)進(jìn)行了運(yùn)動(dòng)學(xué)仿真。 利用以上的理論分析和計(jì)算過(guò)程，本文針對(duì)設(shè)計(jì)目標(biāo)的參數(shù)要求，給出了Stewart平臺(tái)的驅(qū)動(dòng)機(jī)構(gòu)優(yōu)化設(shè)計(jì)方案，并完成了平臺(tái)的各個(gè)組件的設(shè)計(jì)。 關(guān)鍵詞　Stewart 平臺(tái)；運(yùn)動(dòng)學(xué)；液壓伺服系統(tǒng) The hydraulic drive mechanism of the Stewart platform design Abstract The Stewart Platform is the base of the six degree-of-freedom parallel mechanism. Stewart platform has many fine characteristics, which in many areas has been widely applied. Six degree-of-freedom campaign platform is used in different applications, so using different-driven approach. At present, the drive way of the parallel institutions contains Motor driven a ball screw-driven approach, valve controlled hydraulic cylinder-driven approach, pneumatic muscle-driven approach, hydraulic hybrid electric actuator-driven approach, piezoelectric ceramic-driven approach, Motor drive pulley cables-driven approach and so on. The advantage of Valve controlled hydraulic cylinder driven approach is high stiffness, Strong anti-interference capability, high Power - weight ratio and Torque – inertia ratio, Fast response, and wide system frequency band. It is critical to the consideration of parallel machine and motion simulation that theoretical research of the Stewart Platform is being carried. The core of the dissertation is to design a drive mechanism for Stewart Platform to meet a certain requirements. Three parts of research are being managed to approach the goal. To analysis and calculations the parameters of theoretical kinematics of the Stewart platform. Lay the emphases on the analysis of Moving platform position, speed acceleration and the relationship of corresponding parameters of the Supporting bar. Design and check the drive mechanism of the Stewart platform. And kinematics simulate for the hydraulic servo system. An optimization of Stewart platform design is put forward based on the above four parts of work. The mechanical design of every component of the Stewart Platform is accomplished finally. Keywords　 Stewart Platform, kinematics, hydraulic servo system 目錄 摘要 I Abstract II 第1章 緒 論 1 1.1 課題背景 1 1.2 選題的目的和意義 1 1.3 仿真用模擬器的組成 2 1.4 Stewart平臺(tái)的機(jī)械結(jié)構(gòu)組成 2 1.5 Stewart平臺(tái)運(yùn)動(dòng)系統(tǒng)的關(guān)鍵技術(shù)及研究現(xiàn)狀 2 1.5.1 Stewart平臺(tái)系統(tǒng)的運(yùn)動(dòng)特點(diǎn) 2 1.5.2 Stewart平臺(tái)運(yùn)動(dòng)系統(tǒng)的機(jī)構(gòu)學(xué)理論 3 1.5.3 Stewart平臺(tái)運(yùn)動(dòng)系統(tǒng)的驅(qū)動(dòng)方式 4 1.5.4 六自由度運(yùn)動(dòng)系統(tǒng)的控制策略 4 1.6 Stewart平臺(tái)的特點(diǎn)及應(yīng)用 5 1.6.1 性能特點(diǎn) 5 1.6.2 技術(shù)特點(diǎn) 5 1.6.3 檢測(cè)和控制特點(diǎn) 6 1.6.4 六自由度并聯(lián)平臺(tái)的應(yīng)用 7 1.7 論文所要研究的主要內(nèi)容 8 第2章 六自由度運(yùn)動(dòng)平臺(tái)運(yùn)動(dòng)學(xué)研究 9 2.1 引言 9 2.2 六自由度運(yùn)動(dòng)平臺(tái)結(jié)構(gòu) 9 2.3 六自由度運(yùn)動(dòng)平臺(tái)運(yùn)動(dòng)學(xué) 10 2.3.1 旋轉(zhuǎn)變換矩陣 10 2.3.2 六自由度運(yùn)動(dòng)平臺(tái)位置和速度反解 12 2.3.3 六自由度運(yùn)動(dòng)平臺(tái)加速度反解 15 2.4 本章小結(jié) 16 第3章 Stewart平臺(tái)的機(jī)械機(jī)構(gòu)結(jié)構(gòu)設(shè)計(jì) 17 3.1 液壓缸的設(shè)計(jì) 17 3.1.1 液壓缸主要尺寸的確定 18 3.1.2 液壓缸結(jié)構(gòu)設(shè)計(jì)中的幾個(gè)問(wèn)題 20 3.2 上、下平臺(tái)虎克鉸的設(shè)計(jì) 21 3.3 上、下平臺(tái)臺(tái)體的設(shè)計(jì) 24 3.4 本章小結(jié) 25 第4章 CAD和UG簡(jiǎn)介 26 4.1 參數(shù)化設(shè)計(jì)思想 26 4.2 機(jī)械設(shè)計(jì)方法的發(fā)展趨勢(shì) 26 4.3 CAD技術(shù)發(fā)展概況 27 4.4 UG簡(jiǎn)介 30 4.5 運(yùn)動(dòng)仿真 32 4.6 運(yùn)動(dòng)仿真的創(chuàng)建 32 4.7 運(yùn)動(dòng)仿真中機(jī)構(gòu)的運(yùn)動(dòng)形式 33 4.8 動(dòng)畫文件的創(chuàng)建 34 結(jié) 論 35 致 謝 36 參考文獻(xiàn) 37 附錄 38 - 5 -