开内盒九杆二自由度机构设计与研究

发布时间：2018-04-10 00:22

本文选题：开内盒机构　切入点：方案设计　出处：《湘潭大学》2017年硕士论文

【摘要】：智能药品包装机开内盒机构由于运动轨迹复杂、精度要求高,简单的单自由度机构难以实现其功能要求,因此对其设计与性能研究显得尤为重要。二自由度机构相对于单自由度机构具有更高的机构柔性,能实现平面内任意复杂的运动规律,因此吸引了大量学者对其进行研究。然而,纵观国内外研究现状,主要集中在设计分析已有的五杆二自由度机构,或者对多杆二自由度机构进行数综合,而对复杂的九杆二自由度机构以及其路径跟踪相关研究几乎还处于空白阶段。论文以开内盒九杆二自由度机构为研究对象,对其方案设计、运动特性以及路径跟踪等相关问题进行了较深入的研究,论文的主要完成了如下工作:采用概念设计中形态学矩阵表示解法目录的方法,对智能药品包装机开内盒机构进行了原理方案设计,应用加权计分法对原理方案进行评价与决策,获得了九杆二自由度开内盒机构原理方案;并结合机构组成理论,利用创造性设计法对九杆二自由度开内盒机构进行了方案设计。分别固定两原动件,将九杆二自由度机构转化为2种八杆单自由度机构,建立了相应的运动分析数学模型,在Creo中构建了对应的虚拟样机,运动学仿真分析获得了两原动件对九杆二自由度机构位移变化的影响规律;并通过分析2种八杆单自由度机构的运动区域,得到了九杆二自由度开内盒机构的运动区域,验证了九杆二自由度开内盒机构可实现预定轨迹。将机构与工艺轨迹参数化,以机构学、工艺要求为基础建立约束条件,研究了两原动件变化规律的相关算法,提出了路径跟踪逼近法,可获得九杆二自由度机构开内盒工艺轨迹的原动件控制参数;编写了基于MATLAB的路径跟踪逼近法程序,并在Creo虚拟样机中应用程序得到的控制参数进行了联合仿真,验证了路径跟踪逼近法的正确性。
[Abstract]:Because of the complex movement track and high precision, it is difficult to realize the function requirement of the simple single degree of freedom mechanism, so it is very important to study its design and performance.Compared with the single-degree-of-freedom mechanism, the two-degree-of-freedom mechanism has higher flexibility and can realize arbitrary and complex motion law in the plane, so it attracts a lot of scholars to study it.However, throughout the research situation at home and abroad, it is mainly focused on the design and analysis of the existing five-bar two-degree-of-freedom mechanism, or the number synthesis of the multi-bar two-degree-of-freedom mechanism.But the research on the complex nine-bar two-degree-of-freedom mechanism and its path tracking is still in the blank stage.In this paper, the open box nine-bar two-degree-of-freedom mechanism is taken as the research object, and some related problems, such as scheme design, motion characteristics and path tracking, are studied deeply.The main work of this paper is as follows: by using the method of morphological matrix representation to solve the catalogue in the conceptual design, the principle scheme of the open inner box mechanism of the intelligent drug packaging machine is designed.By using the weighted scoring method to evaluate and decide the principle scheme, the principle scheme of the nine-bar two-degree-of-freedom open inner box mechanism is obtained, and the creative design method is used to design the nine-bar and two-degree-of-freedom open inner box mechanism combined with the theory of mechanism composition.Two original moving-parts are fixed respectively, the nine-bar two-degree-of-freedom mechanism is transformed into two kinds of eight-bar single-degree-of-freedom mechanisms, the corresponding mathematical model of motion analysis is established, and the corresponding virtual prototype is constructed in Creo.The kinematics simulation results show the influence of two primary moving parts on the displacement change of the mechanism with two degrees of freedom, and by analyzing the motion regions of two kinds of single-degree-of-freedom mechanisms with eight rods, the motion region of the mechanism with two degrees of freedom of nine rods and two degrees of freedom is obtained.It is verified that the open box mechanism with two degrees of freedom of nine rods can achieve a predetermined track.The mechanism and process trajectory are parameterized, and the constraint conditions are established on the basis of mechanism and process requirements. The related algorithms for the variation law of two primary moving parts are studied, and the path tracking approximation method is proposed.The control parameters of the open inner box process locus of the nine-bar two-degree-of-freedom mechanism can be obtained, and the path tracking and approximation method program based on MATLAB is written, and the control parameters obtained by the application program in the Creo virtual prototype are simulated jointly.The correctness of the path tracking approximation method is verified.
【学位授予单位】：湘潭大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TB486

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