基于UG的DELTA型并联机构动平台的测绘建模与加工仿真
摘要
Delta并联机构是 R.Clavel在1988年提出的,是一种具有3个平动自由度的高速并联机构,也是目前商业应用最成功的并联机构之一。它广泛应用于食品、药品的包装和 电子产品的装配。Delta并联机构的最大缺点就是存在多个球铰,加工难度大,精度难以保证。L.W.Tsai于1995年发明了一种简化的3自由度 Delta并联机构,该机构的最大特点是它具有3个移动自由度,各运动副均是转动副,工作空间大,定位精度高,累积误差小,刚度高,在工业领域具有很好的 应用前景。机构运动可靠性是机构在规定的使用条件下,在规定的使用期内,精确、及时、协调地完成规定机械运动的能力。如今,提高产品的运动可靠性已经成为 提高产品质量的关键。并联工业机构之所以没有在对运动精度要求高的工业领域内广泛应用是因为其运动可靠性尚且达不到更高的要求。在并联机构运动中由于构件 尺寸形位误差,转动副间隙误差,力作用下的构件弹性变形,主动关节刚度等因素的影响,机构运动末端的轨迹会偏离理想轨迹。因此,需要在分析并联机构动力学 和构件受力后弹性变形的基础上,揭示机构误差传递机理,并考虑各个原始输入误差的随机性,建立机构运动可靠性数学模型,给出评价机构运动可靠性高低的量度 和计算方法。运动可靠性是机构运动精度高低的更本质的衡量指标。运动可靠性分析是机构优化设计和误差补偿的基础。
关键词：仿真平台；并联机构；G代码
Abstract
Delta parallel mechanism is put forward in 1988 R.Clavel, is one of a kind of parallel mechanism with three translational degrees of freedom and high speed parallel mechanism, is currently the most successful business applications. The assembly which is widely used in food and drug packaging and electronic products. The biggest drawback of Delta parallel mechanism is the existence of multiple joints, machining difficult, difficult to ensure accuracy. L.W.Tsai in 1995, the invention of a simplified 3 DOF delta parallel mechanism, the biggest characteristic of the agency is it has three degrees of freedom of movement, the movement pair is rotating vice, large working space, high positioning accuracy, small accumulated error, high stiffness, in the industrial field has a good application prospect. The reliability of mechanism motion is the ability of the organization to complete the specified mechanical movement in the specified period of service under the conditions of its use. Nowadays, improving the reliability of products has become the key to improve the quality of products. Parallel industrial mechanism is not widely used in the industrial field of high accuracy of motion, because its motion reliability is not up to a higher requirement. In the motion of parallel mechanism, due to the dimension of the component, the error of the clearance error, the elastic deformation of the members under the action of force, the active joint stiffness and other factors, the trajectory of the end of the mechanism motion will deviate from the ideal trajectory. Therefore, it is necessary in the analysis of parallel manipulator dynamics and the component force of the elastic deformation based on, reveal the mechanism error transfer mechanism and consider the randomness of each of the original input error, to establish the mathematical model of mechanism motion reliability, gives the evaluation mechanism motion reliability level measurement and calculation method. Reliability is a measure of the essential level of the kinematic accuracy of the mechanism. Reliability analysis is the foundation of mechanism optimization design and error compensation.
Keywords：Simulation platform；parallel mechanism；G code
目录
第一章 绪论 9
1.1课题研究的意义 9
1.2 DELTA型并联机构动平台的介绍 10
1.3课题研究的主要内容 11
第二章DELTA型并联机构动平台的三维造型与装配 12
2.1UG软件使用方法介绍 12
2.2零件三维图绘制 13
第三章加工工艺编制与UG加工仿真设计 26
3.1动平台加工工艺编制 26
3.2基于UG零件程序编制及分析 27
3.3毛坯种类、形状、尺寸的确定 28
3.4零件各表面加工方法与装夹方案确定 28
3.5加工顺序确定 29
3.6刀具的创建及选择 30
3.7加工工艺路线的确定 31
3.8加工余量、工序尺寸及公差的确定 32
3.9切削用量确定 32
第四章UG加工仿真 34
4.1加工环境选择 34
4.2程序创建 35
4.3几何体创建 36
4.4刀具的创建 38
4.5创建加工方法 40
4.6创建工序 41
4.7后处理 43
第五章总结与致谢 48
5.1总结 48
5.2致谢 48
参考文献 49
毕业设计附录目录： 49
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