解耦并联机器人机构混沌现象辨识及其在动力学设计中的应用

项目名称： 解耦并联机器人机构混沌现象辨识及其在动力学设计中的应用

项目编号： No.51205339

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 侯雨雷

作者单位： 燕山大学

项目金额： 25万元

中文摘要： 现代机械向高速、精密、重载和高可靠性方向发展，使得机构动力学成为决定其性能的关键。一系列混沌理论科学成果的涌现为机构学中某些现象的解释提供了思路，而并联机器人机构运动解耦的实现则为其动态品质的提高提供了有效途径。本项目以自主综合所得一移动两转动解耦并联机器人机构为研究对象，将机构学与混沌理论相结合，应用机构学中影响系数原理建立机构动力学方程，采用龙格-库塔法予以求解，利用混沌数值分析方法对空间并联机构非线性动力学中的混沌现象予以辨识，确定混沌运动定性与定量特征，分析机构动力系统由规则运动进入混沌状态的途径，认识并开发解耦并联机器人机构动力学的特殊优秀品质,进而应用混沌以关节驱动力/力矩最小为目标开展优化设计，并研制解耦并联机器人样机，为混沌利用或控制奠定基础。本项目顺应并联机械装备研发需求，是对机器人机构动力学理论研究的深化和混沌理论应用领域的拓展，具有较重要的理论指导意义和实践应用价值。

中文关键词： 并联机构；间隙；动力学；混沌；稳定性

英文摘要： The modern machinery is developing to the direction of high speed, precision, heavy load and high reliability, which makes the mechanical dynamics to be the key determining the properties of the mechanical product. The emergence of a series of chaos theory scientific achievements provides mentality for the explain of some phenomenon in mechanism fields. The realization of the motion decoupling of the parallel robot mechanism provides an effective way for the improvement of the dynamic quality and comprehensive performance. In this project, it is taken as the research object for the decoupled parallel robot mechanism with one translation and two rotation degree of freedoms obtainning independent comprehensive, and the mechanism is combined with the chaos theory. The dynamics equations of the mechanism will be set up by the influence coefficient principle, and it will be solved by the Runge-Kutta method. The chaos phenomena in the nonlinear dynamics of the space parallel mechanism is identified by using the numerical analysis method of chaos theory. Then the qualitative and quantitative features of the chaos motion will be determined. The way for the dynamics system of the mechanism from the regular motion to the chaotic state will be analyzed. Therefore the special and excellent dynamics quality of the decoupled

英文关键词： Parallel mechanism；Clearance；Dynamics；Chaos；Stability