面向任务的可控变胞机构稳定性研究

项目名称： 面向任务的可控变胞机构稳定性研究

项目编号： No.51265003

项目类型： 地区科学基金项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 王汝贵

作者单位： 广西大学

项目金额： 50万元

中文摘要： 面向任务的可控变胞机构，既具有变胞机构多功能阶段变化、多拓扑结构变化、多自由度变化等特征，又具有可控机构可控可调、输出柔性、机电融合的性能，具有重要的工程应用前景。然而此类新型机构动态稳定性问题，是制约其在工程中广泛应用的瓶颈。本项目以自动化生产线中码垛机器人为工程应用背景，研究面向任务的可控变胞机构动态稳定性问题。运用非线性动力学理论建立机构系统全运动过程的非线性动力学解析模型，研究系统在各参数影响下的内共振、参激共振、组合共振等非线性动态行为，分析避免机构产生强烈振动的途径，在此基础上研究此类机构的稳定性，提出系统受到随机扰动时稳定性的演化方向，分析机构动态稳定度的评价指标，确定稳定性影响参数，并对其进行动力学优化。为面向任务的可控变胞机构动态性能设计提供一定理论基础。

中文关键词： 面向任务；变胞机构；动态性能；稳定性；

英文摘要： The task-oriented controllable metamorphic mechanism,not only has the characteristics of multifunctional phase change, multi-topological structure change and multi-dof change of the metamorphic mechanism, but also has the properties of controllable-adjustable, flexible output and mechanical- electrical integration of the controllable mechanisms, will has an important engineering application prospect.However, the dynamic stabilities of such kind of novel mechanism are the bottleneck of restricting its wide application in engineering. The palletizing robot of automatic production line is selected as engineering application background, and the dynamic stabilities of the task-oriented controllable metamorphic mechanism are researched in this project. The full motion process nonlinear dynamic analytical model is established using nonlinear dynamic theories, the nonlinear dynamic behaviors of internal resonance, parametric resonance, combination resonance and so on affected by various parameters are studied, and the methods to avoid strong vibration of mechanism are analyzed. Based on the studies above the stability of the mechanism system is studied. The stability evolutionary direction of system affected by random disturbance is presented, the evaluation index of dynamic stability of the system is analyzed, the infl

英文关键词： task-oriented；metamorphic mechanism；dynamic performance；stability；