Dissertation > Industrial Technology > Machinery and Instrument Industry > Mechanics (mechanical design of the basic theory ) > Of mechanism

Three DOF Platform program design and dynamics analysis

Author LiuQuanChuan
Tutor YangGuoLai
School Nanjing University of Technology and Engineering
Course Mechanical Manufacturing and Automation
Keywords Turntable Dynamics Control Parallel mechanism Optimization Co-simulation
Type Master's thesis
Year 2009
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Three - DOF is a typical mechatronic complex products , as a space for the mechanical movement , has been widely used to simulate the ship , vehicle , aircraft movement gesture . In this paper, the virtual prototyping technology dynamic design and analysis , the main contents include: DOF station overall program based on the overall system performance requirements , the design , including swing sets overall constitute three DOF Platform The mechanical body design , drive , program design , and control program design . Parametric design software Pro / E to establish a three-dimensional solid model of swing sets , the quality of the key components , the position of the center of mass , moment of inertia design parameters . Three DOF stage multi-body system dynamics model based on virtual prototyping software ADAMS , Turntable dynamics simulation by defining constraints , loads and simulation strategy , Turntable motion and force law . Turntable structural parameters affect the dynamic characteristics of sensitivity analysis model , key research on the influence of the radius of the circle under the hinge point distribution , electric cylinder layout size , structure , swing sets performance gap , based on established Turntable drive power for the objective function of the optimization model , the structural parameters of the distribution circle radius optimization calculations , to provide a reference for the Turntable overall program optimization matching . Turntable attitude control problem . Study of the aspects of the control of the servo motor , mechanical drive , load modeling techniques , system modeling software AMESim the swing station location system cascade composite control model . The effectiveness of using ADAMS software Control module will be rocking the stage multi-body system dynamics model with AMESim environment under control model organically connected by the control variables , electromechanical dynamic characteristics of swing sets joint simulation , simulation results show that the control method and joint simulation of practicality .

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