快猫下载地址

各向同性移動(dong)并聯機器人的動(dong)力學分析與仿真

提(ti)出(chu)了(le)(le)一種各(ge)向(xiang)同性(xing)移動(dong)并聯機(ji)(ji)器人(ren)。先對該機(ji)(ji)器人(ren)的(de)(de)運動(dong)學(xue)問題進行了(le)(le)分析，建立其位置、速度(du)和(he)(he)加速度(du)方(fang)程；然后以(yi)“庫(ku)倫+黏(nian)性(xing)”摩(mo)擦(ca)模(mo)型為(wei)基(ji)礎(chu)，推導出(chu)傳(chuan)動(dong)滑(hua)(hua)塊和(he)(he)球鉸所(suo)受(shou)的(de)(de)摩(mo)擦(ca)力(li)/力(li)矩方(fang)程；在考慮摩(mo)擦(ca)的(de)(de)情況下(xia)，利用(yong)牛頓-歐拉法分別建立了(le)(le)傳(chuan)動(dong)滑(hua)(hua)塊、分支(zhi)運動(dong)鏈和(he)(he)機(ji)(ji)器人(ren)動(dong)平(ping)臺(tai)的(de)(de)動(dong)力(li)學(xue)模(mo)型，揭示(shi)了(le)(le)分支(zhi)傳(chuan)動(dong)力(li)和(he)(he)加在動(dong)平(ping)臺(tai)上的(de)(de)外力(li)之間的(de)(de)映射關系；基(ji)于(yu)(yu)ADAMS軟件和(he)(he)MATLAB編(bian)程對機(ji)(ji)器人(ren)動(dong)力(li)學(xue)進行仿真(zhen)(zhen)，繪制出(chu)傳(chuan)動(dong)滑(hua)(hua)塊所(suo)受(shou)的(de)(de)傳(chuan)動(dong)力(li)變化曲線，兩種仿真(zhen)(zhen)結果(guo)一致，驗證了(le)(le)理論分析的(de)(de)真(zhen)(zhen)確性(xing)和(he)(he)有(you)效性(xing)。該機(ji)(ji)構可用(yong)于(yu)(yu)農業機(ji)(ji)器人(ren)、工業機(ji)(ji)器人(ren)的(de)(de)末端執行機(ji)(ji)構。......

[ 11-20 16:18 ]

一(yi)種精(jing)密平臺的柔性鉸(jiao)鏈設計(ji)和有限元驗證

  精密平臺(tai)(tai)是(shi)一種(zhong)能(neng)夠提(ti)供微(wei)位移的工作平臺(tai)(tai)，柔(rou)(rou)性(xing)鉸鏈(lian)(lian)(lian)作為傳(chuan)動機構(gou)，在精密平臺(tai)(tai)設計(ji)中(zhong)廣泛(fan)應用(yong)。柔(rou)(rou)性(xing)鉸鏈(lian)(lian)(lian)是(shi)決定平臺(tai)(tai)性(xing)能(neng)的關鍵，柔(rou)(rou)性(xing)鉸鏈(lian)(lian)(lian)的結構(gou)形式(shi)和尺寸參數(shu)影響著(zhu)定位精度的高低。設計(ji)了一種(zhong)疊加支鏈(lian)(lian)(lian)形式(shi)的柔(rou)(rou)性(xing)鉸鏈(lian)(lian)(lian)結構(gou)，推導了基于該柔(rou)(rou)性(xing)鉸鏈(lian)(lian)(lian)的二維精密平臺(tai)(tai)的工作剛度、耦合剛度、耦合系數(shu)、鉸鏈(lian)(lian)(lian)應力等性(xing)能(neng)指標(biao)(biao)的解(jie)析公式(shi)，并采用(yong)了有(you)限(xian)元軟件對性(xing)能(neng)指標(biao)(biao)進行了驗(yan)證(zheng)。仿真表明，兩(liang)者具(ju)有(you)良好的一致性(xing)，為應用(yong)于精密平臺(tai)(tai)的柔(rou)(rou)性(xing)鉸鏈(lian)(lian)(lian)設計(ji)提(ti)供參考(kao)。  隨著(zhu)納米技術的興起及快速(su)發展(zhan)，精密平臺(tai)(tai)這種(zhong)能(neng)夠提(ti)供高定位精度的微(wei)位移工......

[ 11-15 15:20 ]

平面包絡內嚙合(he)蝸桿(gan)傳動(dong)母(mu)平面傾角的分析(xi)研究

?  母平(ping)面(mian)傾角(jiao)對平(ping)面(mian)包(bao)絡(luo)內(nei)嚙(nie)合(he)(he)(he)(he)蝸(gua)桿(gan)(gan)(gan)傳動(dong)(dong)的(de)嚙(nie)合(he)(he)(he)(he)性(xing)能(neng)具(ju)(ju)(ju)有較大(da)影響，對確(que)定平(ping)面(mian)包(bao)絡(luo)內(nei)嚙(nie)合(he)(he)(he)(he)蝸(gua)桿(gan)(gan)(gan)傳動(dong)(dong)裝(zhuang)置的(de)優參數具(ju)(ju)(ju)有決(jue)定作用。基于齒(chi)輪(lun)嚙(nie)合(he)(he)(he)(he)原理，構建蝸(gua)桿(gan)(gan)(gan)齒(chi)面(mian)接觸和誘導法(fa)曲率方(fang)程，利用數值計算方(fang)法(fa)及(ji)Hertz接觸應(ying)力(li)計算模型，重點(dian)分析(xi)了單頭蝸(gua)桿(gan)(gan)(gan)傳動(dong)(dong)下蝸(gua)輪(lun)齒(chi)數及(ji)中心巨變化(hua)對平(ping)面(mian)包(bao)絡(luo)內(nei)嚙(nie)合(he)(he)(he)(he)蝸(gua)桿(gan)(gan)(gan)傳動(dong)(dong)影響。研究表明(ming)，母平(ping)面(mian)傾角(jiao)在18°-36°之間取值時，平(ping)面(mian)包(bao)絡(luo)內(nei)嚙(nie)合(he)(he)(he)(he)蝸(gua)桿(gan)(gan)(gan)傳動(dong)(dong)的(de)嚙(nie)合(he)(he)(he)(he)性(xing)能(neng)具(ju)(ju)(ju)有優于其他角(jiao)度(du)嚙(nie)合(he)(he)(he)(he)性(xing)能(neng)的(de)特點(dian)。研究結(jie)果為平(ping)面(mian)包(bao)絡(luo)內(nei)嚙(nie)合(he)(he)(he)(he)蝸(gua)桿(gan)(gan)(gan)傳動(dong)(dong)的(de)后續(xu)研究奠定了理論基礎。  蝸(gua)輪(lun)蝸(gua)桿(gan)(gan)(gan)傳動(dong)(dong)是一(yi)種......

[ 11-10 16:58 ]

齒向修形齒輪嚙合剛度及齒向載(zai)荷分布(bu)系數的計(ji)算研究(jiu)

  齒(chi)(chi)(chi)向(xiang)(xiang)(xiang)修形技術已成為提(ti)高齒(chi)(chi)(chi)輪(lun)(lun)傳動(dong)性(xing)能(neng)(neng)、降(jiang)低振動(dong)噪聲(sheng)的(de)(de)(de)主(zhu)要手段之一。其(qi)中，嚙(nie)合剛度(du)(du)、載荷(he)分(fen)(fen)(fen)布(bu)系數(shu)(shu)(shu)是評價齒(chi)(chi)(chi)輪(lun)(lun)修形效果優(you)劣的(de)(de)(de)主(zhu)要參數(shu)(shu)(shu)、考慮安(an)裝(zhuang)(zhuang)誤差(cha)的(de)(de)(de)影響(xiang)，利用有限元準靜態分(fen)(fen)(fen)析方法，對(dui)不同(tong)修形量(liang)(liang)(liang)(liang)齒(chi)(chi)(chi)輪(lun)(lun)的(de)(de)(de)嚙(nie)合剛度(du)(du)以(yi)及載荷(he)分(fen)(fen)(fen)布(bu)系數(shu)(shu)(shu)開展定(ding)量(liang)(liang)(liang)(liang)計(ji)算。分(fen)(fen)(fen)析得(de)到了安(an)裝(zhuang)(zhuang)誤差(cha)、齒(chi)(chi)(chi)輪(lun)(lun)修形量(liang)(liang)(liang)(liang)對(dui)齒(chi)(chi)(chi)輪(lun)(lun)嚙(nie)合剛度(du)(du)以(yi)及載荷(he)分(fen)(fen)(fen)布(bu)系數(shu)(shu)(shu)的(de)(de)(de)影響(xiang)規律(lv)。結果表明，齒(chi)(chi)(chi)向(xiang)(xiang)(xiang)修形不僅能(neng)(neng)增加齒(chi)(chi)(chi)輪(lun)(lun)的(de)(de)(de)嚙(nie)合剛度(du)(du)還可以(yi)降(jiang)低不平行度(du)(du)誤差(cha)引(yin)起(qi)的(de)(de)(de)齒(chi)(chi)(chi)向(xiang)(xiang)(xiang)載荷(he)分(fen)(fen)(fen)布(bu)系數(shu)(shu)(shu)，安(an)裝(zhuang)(zhuang)誤差(cha)一定(ding)時齒(chi)(chi)(chi)輪(lun)(lun)存在佳值(zhi)域的(de)(de)(de)齒(chi)(chi)(chi)向(xiang)(xiang)(xiang)修形量(liang)(liang)(liang)(liang)，偏離該值(zhi)域時傳動(dong)性(xing)能(neng)(neng)變(bian)差(cha)。  大量(liang)(liang)(liang)(liang)的(de)(de)(de)研究和實踐表明，適(shi)當(dang)的(de)(de)(de)齒(chi)(chi)(chi)向(xiang)(xiang)(xiang)......

[ 11-09 15:15 ]

一種(zhong)平行軸圓截面齒輪輪廓的構件方法(fa)

  在空(kong)間(jian)曲線(xian)(xian)(xian)(xian)(xian)嚙(nie)合(he)理論的(de)(de)基礎上(shang)，研究平(ping)行(xing)軸線(xian)(xian)(xian)(xian)(xian)齒(chi)(chi)(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)的(de)(de)傳動(dong)(dong)(dong)機構(gou)(gou)。以螺旋線(xian)(xian)(xian)(xian)(xian)為(wei)中(zhong)心線(xian)(xian)(xian)(xian)(xian)，研究截(jie)面(mian)(mian)為(wei)圓(yuan)時主(zhu)動(dong)(dong)(dong)線(xian)(xian)(xian)(xian)(xian)齒(chi)(chi)(chi)(chi)(chi)的(de)(de)曲面(mian)(mian)方(fang)程(cheng)，并(bing)(bing)以此(ci)構(gou)(gou)建主(zhu)動(dong)(dong)(dong)線(xian)(xian)(xian)(xian)(xian)齒(chi)(chi)(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)齒(chi)(chi)(chi)(chi)(chi)面(mian)(mian)齒(chi)(chi)(chi)(chi)(chi)廓。以同軸心的(de)(de)圓(yuan)截(jie)面(mian)(mian)為(wei)從(cong)動(dong)(dong)(dong)線(xian)(xian)(xian)(xian)(xian)齒(chi)(chi)(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)的(de)(de)齒(chi)(chi)(chi)(chi)(chi)廓截(jie)面(mian)(mian)，并(bing)(bing)根據(ju)從(cong)動(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)中(zhong)心線(xian)(xian)(xian)(xian)(xian)構(gou)(gou)建從(cong)動(dong)(dong)(dong)輪(lun)(lun)(lun)(lun)齒(chi)(chi)(chi)(chi)(chi)面(mian)(mian)方(fang)程(cheng)。分析線(xian)(xian)(xian)(xian)(xian)齒(chi)(chi)(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)嚙(nie)合(he)傳動(dong)(dong)(dong)時主(zhu)動(dong)(dong)(dong)線(xian)(xian)(xian)(xian)(xian)齒(chi)(chi)(chi)(chi)(chi)上(shang)的(de)(de)正(zheng)反轉觸線(xian)(xian)(xian)(xian)(xian)，并(bing)(bing)根據(ju)空(kong)間(jian)曲線(xian)(xian)(xian)(xian)(xian)嚙(nie)合(he)方(fang)程(cheng)求出從(cong)動(dong)(dong)(dong)線(xian)(xian)(xian)(xian)(xian)齒(chi)(chi)(chi)(chi)(chi)的(de)(de)正(zheng)反轉觸線(xian)(xian)(xian)(xian)(xian)。此(ci)正(zheng)反轉觸線(xian)(xian)(xian)(xian)(xian)應滿足從(cong)動(dong)(dong)(dong)線(xian)(xian)(xian)(xian)(xian)齒(chi)(chi)(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)中(zhong)心線(xian)(xian)(xian)(xian)(xian)構(gou)(gou)建的(de)(de)圓(yuan)截(jie)面(mian)(mian)從(cong)動(dong)(dong)(dong)線(xian)(xian)(xian)(xian)(xian)輪(lun)(lun)(lun)(lun)齒(chi)(chi)(chi)(chi)(chi)面(mian)(mian)方(fang)程(cheng)。可(ke)通過增加齒(chi)(chi)(chi)(chi)(chi)數提高其重合(he)度(du)以提高傳動(dong)(dong)(dong)穩定性。通過建立線(xian)(xian)(xian)(xian)(xian)齒(chi)(chi)(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)副3D模型并(bing)(bing)進行(xing)運動(dong)(dong)(dong)學模擬仿真試(shi)驗，結果(guo)表明，此(ci)方(fang)法構(gou)(gou)建的(de)(de)平(ping)行(xing)軸圓(yuan)截(jie)面(mian)(mian)線(xian)(xian)(xian)(xian)(xian)齒(chi)(chi)(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)......

[ 11-08 17:12 ]

輪(lun)廓電機行星(xing)傳(chuan)動(dong)系(xi)統傳(chuan)遞誤差研究

  以輪廓電機中(zhong)行星傳動系(xi)(xi)(xi)統(tong)(tong)為研究(jiu)(jiu)對(dui)象，考慮時變(bian)(bian)嚙(nie)合剛(gang)度、嚙(nie)合相位(wei)和當量嚙(nie)合誤(wu)(wu)(wu)(wu)(wu)(wu)差等影響因(yin)素，建立了(le)(le)系(xi)(xi)(xi)統(tong)(tong)的(de)(de)運動微分(fen)方程，并運用Runge-Kuttge法(fa)求(qiu)解得到系(xi)(xi)(xi)統(tong)(tong)傳遞誤(wu)(wu)(wu)(wu)(wu)(wu)差。基于傳遞誤(wu)(wu)(wu)(wu)(wu)(wu)差曲線，分(fen)析了(le)(le)各類誤(wu)(wu)(wu)(wu)(wu)(wu)差和支撐剛(gang)度變(bian)(bian)化(hua)對(dui)系(xi)(xi)(xi)統(tong)(tong)傳遞誤(wu)(wu)(wu)(wu)(wu)(wu)差幅值的(de)(de)影響，并對(dui)誤(wu)(wu)(wu)(wu)(wu)(wu)差初(chu)相位(wei)進行優化(hua)。結果表明(ming)，誤(wu)(wu)(wu)(wu)(wu)(wu)差值的(de)(de)大(da)小與(yu)系(xi)(xi)(xi)統(tong)(tong)傳遞誤(wu)(wu)(wu)(wu)(wu)(wu)差幅值呈正比(bi)，誤(wu)(wu)(wu)(wu)(wu)(wu)差初(chu)相位(wei)的(de)(de)變(bian)(bian)化(hua)可以在不改變(bian)(bian)構件(jian)精度的(de)(de)條件(jian)下減小系(xi)(xi)(xi)統(tong)(tong)傳遞誤(wu)(wu)(wu)(wu)(wu)(wu)差幅值，支撐剛(gang)度的(de)(de)大(da)小與(yu)系(xi)(xi)(xi)統(tong)(tong)傳遞誤(wu)(wu)(wu)(wu)(wu)(wu)差幅值成反比(bi)。研究(jiu)(jiu)工作為行星傳動系(xi)(xi)(xi)統(tong)(tong)的(de)(de)設計提供知道(dao)作用，降低了(le)(le)制造難度和安(an)裝成本(ben)。  輪廓......

[ 11-02 16:19 ]