基于Stewart平臺(tái)機(jī)構(gòu)的智能彎管機(jī)的優(yōu)化設(shè)計(jì)與運(yùn)動(dòng)控制.pdf

1、西南交通大學(xué)碩士學(xué)位論文基于Stewart平臺(tái)機(jī)構(gòu)的智能彎管機(jī)的優(yōu)化設(shè)計(jì)與運(yùn)動(dòng)控制姓名：吳秀林申請(qǐng)學(xué)位級(jí)別：碩士專(zhuān)業(yè)：機(jī)械設(shè)計(jì)及理論指導(dǎo)教師：李立20080601西南交通大學(xué)碩士研究生學(xué)位論文第Ⅱ頁(yè)AbstractInpractice，metalpipeswithdiverseradiusofcurvaturearecommonlyused，andhowtobendapiperapidlyandeasilybyanintelligent

2、machinetoolhasdrawnattentionofmanyresearchersinmachinerymanufacturingTheStewartPlatformhasmuchgoodperformance，suchasmultipledegreesoffreedom，hardstructuralstiffness，highcarryingcapacity，goodkinematicprecision，simpleinver

3、seposition，easyforcefeedbackcontrolandSOonItisnoveltousetheStewartPlatformasthemanipulatoroftheparallelmachinetoolforbendingmetalpipesInthisthesiS，theconceptualdesign，optimaldesignforthestructuralparametersandtrackfollow

4、ingcontroloftheparallelmachinetoolforbendingmetalpipesbasedonStewartPlatformhavebeeninvestigatedasfollows：Firstly，theconceptualdesignofthemachinetoolisaccomplished，accordingtotherequirementsforbendingmetalpipesA6SPSparal

5、lelStewartplatformmadeupofafixedplatform，amovingplatform，andsixlegsdrivenbyservohydrauliccylindersischosenasthemanipulatoroftheparallelmachinetoolforbendingmetalpipesAndthepipeisdesignedtobeclampedhorizontallytoaugmentth

6、eworkspaceofthemachinet001Secondly，amulti—objectoptimaldesignmethodbasedonGeneticalgorithmispresentedtodeterminethestructuralparametersofthemachinetooltomeettheneedsofworkspaceandprecisionThekinematicanddynamiCSimulation

7、resultsofthemachinetoolwithoptimalstructuralparametersshowthatitsperformanceisimprovedThirdly，atrackfollowingcontrolmethodbasedonunitedfeedbacklinearizationandNerveNetworkisproposedtocontroltheleg’SvelocityoutputItisindi