混合输入5R2P型平面并联机构的控制及其实验研究

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1、上海交通大学硕士学位论文混合输入5R2P型平面并联机构的控制及其实验研究姓名：唐炳汉申请学位级别：硕士专业：机械设计及理论指导教师：郭为忠200701204基于压力机多冲压工艺的功能要求设计了混合输入实验台实验台以一常速电机和一伺服电机为驱动源通过运动控制卡把七杆机构和PC机连接起来开发了基于VB平台的人机控制界面针对几种不同的冲压工艺进行实验研究以验证理论研究的正确性及混合输入机构具有很好的柔性和可控性关键词混合输入轨迹规划动力学建模运动学标定实验研究THECONTROLANDEXPERIMENTRESEARCHOFH

2、YBRIDDRIVEN5R2P-TYPEPLANARPARALLELMECHANISMABSTRACTHybriddrivenmechanismisakindofcontrolledmechanism.Comparedwithtraditionalmechanism,hybriddrivenmechanismcanrealizemachine’sworkingflexibilitybyaddingoneormorenewcontrolledmotionDOF.Theoretically,itcanrealizethest

3、ampingprocesswithlowcostprogrammingandbigpower,andcanreappeartheplanartrajectoryinahighprecision.Thepaperpresentsahybriddriven5R2P-typeplanarparallelmechanismwithtwo-DOF.Weusethecombinationoftheoryresearchandexperimenttest,mainlysolvetherelatedproblemsofthemechan

4、ismcontrolinawayofhighspeedandhighaccuracy.Theproblemsincludethetrajectoryplanbasicanalysisofdynamicskinematicscalibrationofmechanismparameterthesystemdesignofexperimentalplatformanditsexperimentresearches.Thepaper’sdetailsaredescribedasbelow:1.Analyzedthepositiv

5、eandinversekinematicsofmechanism,fromwhichwegottheworkspaceofmechanism’soutputbasedontheperformanceofservomotor.Forthesakeofthecontrollabilityofmechanism,wefirstlyformedthetrajectoryplanningmethodintheconsiderationoftheoutput’sworkspaceandtheoutputcapabilityofser

6、vomotor,accordingtowhichwecangetthedrivingorderofservomotorwiththekinematicsinverse.Furthermore,asthecharacteristicinpowerdistributionofhybriddrivenmechanismis:duringthemechanismrunning,theconstantmotorprovidesamajorityofpowerwhiletheservomotorprovidesalitterpowe

7、rjusttoadjustrunningmatter.Thenweoptimizedthetrajectorybasingonthatcharacteristic.2.Dynamicmodelingofparallelmechanismisthepreconditionforitsmotioncontrolwithhighspeedandhighprecision.ThepaperappliedLagrangeequationtosetthedynamicsmodelofmechanism,andhadthenumeri

8、calsimulationtogettherealmovementpatternsofthetwomotors.3.Ascontrolledmechanism,hybriddrivenmechanismandroboticsharethecomparability,thatis,calibrationisthekey