弹性冗余空间机构性能与机器精度模型研究

项目名称： 弹性冗余空间机构性能与机器精度模型研究

项目编号： No.51275067

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 王德伦

作者单位： 大连理工大学

项目金额： 82万元

中文摘要： 以实际机器零件为对象，把零件转化为内部各向异性弹性体与表面几何特征刚性体的组合体, 讨论零件几何表面在工况载荷下的弹性运动几何学，阐述零件精度特征弹性映射与零件几何结构、材料物理性能与工况载荷等因素的关系；揭示静联接面的零件精度弹性映射函数效应，并探讨静联接方式、结构参数、工况载荷与弹性映射函数的内在联系；总结运动副的实际结构类型与组合特征，研究其弹性约束与弹性冗余自由度、几何精度与运动特征的传递及合成规律等，建立实际运动副的空间运动子链的结构构型方法；由弹性刚性组合体零件、弹性映射函数、空间运动子链等组合而成弹性冗余空间机构，构建机器整机与零件的几何、物理、结构、装配、运动、载荷之间的耦合关系，深入研究弹性冗余空间机构的组成原理、运动学与静力学及其求解方法，结合多轴精密机床整机样机与零件的数值计算与试验测试分析，形成机器整机精度及其特性的弹性冗余空间机构建模与分析方法。

中文关键词： 空间机构；运动副；精度；弹性；运动几何学

英文摘要： A spatial mechanism, with elastic constraints and redundant degree of freedom, is firstly presented to set up a mathematical model of machine accuracy in the project. In traditional way, a mechanism consists of links and kinematic pairs, which are rigid bodies and ideal geometric surfaces respectively without any error. However, a practical machine consists of elastic machine-parts with irregular surfaces, so a practical mechanism does. It means that an error is produced by the elastic links,or non-ideal kinematic pairs. An elastic link, a machine part, is taken as a combined body of a rigid surface with the special geometric characteristic and an inner elastic body. The elastic kinematic geometry is set up to study the deformation of the surface of an elastic machine-part with different load cases. Based on it, an elastic mapping function is established from one surface to another, in which it includes static joints, deals with connection version, structure parameters and load cases. On the other hand, a non-ideal kinematic pair, or a practical kinematic pair is comprised of several kinematical joints, is designed as a sub-spatial kinematic chain with cam-springs, which contains few cams with a special geometrical surface and several springs with elastic over constraints. The springs with redundant degree of fr

英文关键词： Spatial Mechanism；Kinematic Pairs；Accuracy；Elastic；Kinematic Geometry