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1、 工 程 硕 士 学 位 论 文基于KED方法的高速空间并联坐标测量机弹性动力学研究 / RESEARCH ON ELASTIC DYNAMICS OF HIGH-SPEED SPACE PARALLEL COORDINATE MEASURING MACHINE WHICH BASED ON KED METHODA Dissertation submitted in fulfillment of the requirements of the degree ofMASTER OF ENGINEERINGfromShandongUniversity of Science and Technolo
2、gybyLiYunfengSupervisor: Associate Professor Chen XiulongCollege of Mechanical and Electronic EngineeringMay 2013声明本人呈交给科技大学的这篇硕士学位论文，除了所列参考文献和世所公认的文献外，全部是本人在导师指导下的研究成果。该论文资料尚没有呈交于其它任何学术机关作鉴定。 硕士生签名： 日 期：AFFIRMATIONI declare that this dissertation, submitted in fulfillment of the requirements for th
3、e award of Master of Engineering in Shandong University of Science and Technology, is wholly my own work unless referenced of acknowledge. The document has not been submitted for qualification at any other academic institute.Signature: Date:摘 要现代并联坐标测量机正朝着高速、轻型、精密和低噪声的方向发展，也正是由于这一特点，使得测量机轻质构件很容易发生弹性
4、变形，这不仅影响了测量机的轨迹精度，还破坏了系统的稳定性，同时也降低了机器的使用寿命。因此对测量机进行弹性动力学行为分析显得尤为重要。本文以空间并联坐标测量机为研究对象，对其弹性动力学建模，动力学行为分析等进行了较系统的研究。主要容如下：首先，分析该测量机的结构特点，确定该机构自由度数，对机构的五个支链进行运动学分析。其次，根据测量机机构的精度要求和特性利用有限元的方法将机构的柔性构件划分单元，根据KED分析理论建立计入几何非线性因素和不计入几何非线性因素的单元的弹性动力学方程。分析支链上各个单元之间的约束关系，并据此将各个单元的弹性动力学方程装配成支链的的弹性动力学方程。求解系统的运动学约束
5、条件和动力学约束条件，建立系统的广义坐标，进而将支链的弹性动力学方程装配成系统的弹性动力学方程，完成测量机系统的弹性动力学模型的建立。最后，对弹性动力学行为进行了仿真分析，规划了三个运动轨迹，利用MATLAB软件，给出了动平台产生的输出位移误差、速度误差、加速度误差的变化情况，给出了测量机机构构件在运动过程中动应力的变化情况以与频率的变化情况，并对计入非线性因素和未计入非线性因素对结果的影响做出比较。通过数值仿真结果表明本文所建非线性弹性动力学模型合理，非线性的因素对结果有一定的影响。关键词：坐标测量机;弹性动力学;非线性;应力;KED方法 ABSTRACTThe elastic deform
6、ation of lightweight components of measuring machine is occured as parallel coordinate measuring machine is developing into high-speed,lightweight,precise and low-noise one.The elastic deformations not only affect trajectory accuracy,destroy the system stability,but also reduce productivity and mach
7、ine life.Therefore, the research on parallel coordinate machine is of great significance.In this thesis, high-speed space PCMM is taken as object of study.Dynamic modeling and analysis,numerical analysis are performed.The main content in this thesis are listed as follows:Firstly,structural character
8、istics of the 4-UPS-UPU high-speed space PCMM is analyzed.The degree of freedom is determined.The kinematics analyses of the five driving limbs are taken.Secondly,According to the accuracy requirement and characteristic the spatial beam element is used to discretize the flexible driving limbs by usi
9、ng finite element method. Based on the KED analysis theory the dynamic equations of element are derived which is included in the geometric non-linear factors and not included in the geometric non-linear factors.From constraint among elements, the dynamic equations of branches are derived. Establishi
10、ng the generalized coordinates of the system,the overall system elastic dynamic equation of the PCMM is obtained by assembling the dynamic equations of branches.And then selected the method of solving elastic dynamics equation.Finally, Based on trajectory numerical simulation analysis is taken.By MA
11、TLAB software the displacement error, velocity, acceleration of the PCMMare analyzed,The change of dynamic stress and the change of frequency are also given.And the influence on the results which included in the nonlinear and not included in the nonlinear factors to make a comparison.The calculated
12、numerical results show that the effectiveness and correctness of the nonlinear elastic dynamic models,nonlinear factors have certain influence on the result.Key words:coordinate measuring machine;elastodynamics;nonlinear;stress;KED method目 录1 绪 论11.1 测量机的国外发展状况11.2 并联机构的弹性动力学研究现状11.3 课题研究意义31.4 本文研究
13、的主要容32 高速空间并联坐标测量机的运动学分析52.1 引言52.2 坐标测量机结构分析52.3 坐标测量机的运动学分析62.4 本章小结123 高速空间并联坐标测量机的弹性动力学建模133.1 引言133.2 单元弹性动力学方程的建立133.3 支链弹性动力学方程的建立203.4 系统弹性动力学方程的建立243.5 本章小结334 高速空间并联坐标测量机动力学行为的数值仿真分析344.1 引言344.2 方程求解344.3 动平台的运动特性分析364.4 驱动杆的动应力分析434.5 频率特性分析574.6 非线性特性分析604.7 本章小结655 结论与展望665.1 主要结论665.2
14、 工作展望66致 67参考文献68攻读硕士学位期间从事科学研究与发表论文情况72Contents1 Introduction11.1Current research of measuring machine at home and abroad11.2 The elastodynamics research of parallel institutions11.3Research significance of subject31.4 Main content of the subject32 Kinematic analysis of high-speed PCMM52.1 Foreward
15、52.2Configuration analysis of PCMM52.3 Kinematic analysis of PCMM62.4 Summary123 Elastic modeling of high-speed PCMM133.1 Foreward133.2 Element elastic dynamic equations133.3 Branch elastic dynamic equations203.4 System elastic dynamic equations243.5Summary334 Numerical simulation analysisof the dynamic behavior of high-speed PCMM344.1 Foreward344.2 Solution of equation
