基于三自由度并聯(lián)支撐機(jī)構(gòu)的自動(dòng)調(diào)平系統(tǒng)的研究.pdf

1、I分類號(hào)：密級：公開公開學(xué)號(hào)：2009109單位代碼：10407碩士學(xué)位論文論文題目:基于三自由度并聯(lián)支撐機(jī)構(gòu)的基于三自由度并聯(lián)支撐機(jī)構(gòu)的自動(dòng)調(diào)平系統(tǒng)的研究自動(dòng)調(diào)平系統(tǒng)的研究研究方向并聯(lián)機(jī)器人的應(yīng)用并聯(lián)機(jī)器人的應(yīng)用專業(yè)名稱機(jī)械電子工程機(jī)械電子工程研究生姓名肖藩導(dǎo)師姓名、職稱朱大昌朱大昌(副教授副教授)20122012年5月2727日江西贛州IIIAbstractAbstractAutomaticlevelingsystemregardl

2、essofcivilianequipmentinthemilitarynationaldefenseprojectshaveanimptantwidelyusedinpresentlydecadestheautolevelingtechnologyresearchhasalwaysbeenattentionhasbeenpaid.Byusingscrewtheythetheyoftheantispiralparallelmechanis

3、mwith2R1T3DoF(DegreeofFreedom)isproposedinthispaper.Configurationoutofaseriesofasymmetricwith2R1TthreedegreesoffreedomparallelmechanismwithsphericaljointSsymmetry2R1Tthreedegreesoffreedomparallelmechanismthethreezeroterm

4、inalconstraint2R1Tthreedegreesoffreedomparallelconfigurationparallelganizations2R1Tconfigurationareanalyzeddesignanalysisdesignpresentedtheacteristicsrequirementsoftheautomaticlevelingsystemsupptstructureparallelmechanis

5、m.ByusingtheuseofSolidwkssoftwareAdamssoftwarejointmodelingofkinematicsdynamicssimulationstudytoestablishaprecisemathematicalmodelofautomaticlevelingsystem’scontroling.Thehydraulicservocontrolintheautomaticlevelingsystem

6、arelativelycompletestudydesigniondesignofthemaincomponentsofthehydraulicservotheestablishmentofthemathematicalmodelofthehydraulicservosystemthehydraulicservocontrolsystemtransferfunctionusingMatlabsoftwaretheopenloopfreq

7、uencyresponsecurvesimulationthesystemopenloopfrequencyresponseacteristicsofthehydraulicservocontrolsystemisanalyzed.ByusingfuzzyPIDSmithpredictivecontrolstrategycontrolsystemfautomaticlevelingsystemisdesignsimulationresu