機油冷卻器自動裝備線壓緊工位裝備設計

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畢 業(yè) 設 計 任 務 書 200 8年2月19日 畢業(yè)設計題目 機油冷卻器自動裝備線壓緊工位裝備設計 指導教師 俞云強 職稱 講師 專業(yè)名稱 機電一體化技術 班級 機電50532 學生姓名 吳松林 學號 5020053231 設計要求 1.完成資料翻譯一份（3000字以上） 2.完成畢業(yè)設計調研報告一份； 3.完成機油冷卻器自動裝備線壓緊工位裝備設計 4.完成畢業(yè)設計說明書一份； 5.完成相關圖紙。 完成畢業(yè)課題的計劃安排 序號 內(nèi)容 時間安排 1 外文資料翻譯 2008.2.20至 2008.2.29 2 搜集相關資料并調研，完成調研報告 2008.3.1至 2008.3.5 3 進行機械零件的設計及機構的選擇，并完成相關的工藝，編寫說明書，繪制相關圖紙。 2008.3.6至2008.4.8 4 整理畢業(yè)設計說明書并定稿，準備答辯 2008.4.15至2008.4.19 5 答辯 2008.4.20 答辯提交資料 外文資料翻譯，畢業(yè)設計調研報告， 畢業(yè)設計說明書，相關圖紙。 計劃答辯時間 2008.4.20 無錫職業(yè)技術學院機電技術學院 2008 年 2 月 19日 分類號 密級 無錫職業(yè)技術學院 畢業(yè)設計說明書 題 目 機油冷卻器自動裝備線壓緊工位裝備設計 英文并列題目 The oil cooler automatic equipment line contracts the location equipment design 學生姓名: 吳松林 專 業(yè): 機電一體化技術 指導教師: 俞云強 職 稱: 講 師 畢業(yè)設計說明書提交日期 2008.4.20 地址：無錫職業(yè)技術學院 無錫職業(yè)技術學院畢業(yè)設計說明書 目 錄 第一章 引言 1 1.1課題的來源、意義 1 1.1.1課題的來源 2 1.1.2 課題的意義 2 第二章 總體方案設計 3 2.1機油冷卻器自動裝配線的設計要求 3 2.2裝配方案設計 3 2.2.1裝配工藝分析與確定 3 2.2.2裝配線傳送方案的比較與確定 4 2.3 總體方案的確定 5 第三章 壓緊工位裝備設計 8 3.1機油冷卻器定位方案的比較與確定 8 3.2機油冷卻器夾緊方案的比較與確定 9 3.3抽頭的設計 12 3.4壓力機的設計 13 3.4.1方案設計 13 3.4.2氣缸的選擇與設計 13 3.4.2.1壓緊氣缸的選擇與設計 13 3.4.2.2抽頭氣缸的選擇與設計 17 3.4.2.3旋轉氣缸的選擇 18 3.4.3壓緊工位支架的設計 19 3.4.4壓力機壓頭的設計 20 3.4.4.1懸臂壓桿的設計 20 3.4.4.2擺動支架的設計 22 3.4.4.3轉塊的設計 23 3.4.4.4壓塊的設計 24 3.4.5導套的設計 24 3.4.5.1抽頭導套的設計 24 3.4.5.2導桿導套的設計 25 3.4.6氣缸連接件的選用 25 3.4.7夾緊工位結構的確定 ………………………………………………………26 第四章 總 結 27 致 謝 28 參考文獻 29 摘 要 汽車發(fā)動機在高速旋轉下發(fā)熱量很大，尤其是大功率發(fā)動機，在高溫下對汽車發(fā)動機潤滑系統(tǒng)的可靠性要求比較高。而機油冷卻器可以保持發(fā)動機工作狀態(tài)下可靠的潤滑。提高其工作可靠性和壽命，降低發(fā)動機本體的制造精度，對于車載發(fā)動機來說是必不可少的配套裝置。隨著我國現(xiàn)代化進程的加快，汽車工業(yè)的迅猛發(fā)展，機油冷卻器市場中的需求越來越大，圓盤機油冷卻器由于其結構及性能的優(yōu)勢，更是需求加大。 機油冷卻器的裝配工藝過程是其制造過程中非常重要的環(huán)節(jié)，裝配質量的好壞直接影響機油冷卻器的密封性能?？墒牵捎跈C油冷卻器的結構特點限制，長期以來，在國內(nèi)外這一工藝過程一直靠人手工操作，效率低，工作勞動強度大，且裝配質量過多地受到人為因素的影響，致使機油冷卻器質量的穩(wěn)定性和可靠性不高。隨著企業(yè)用戶需求量的增加，揚州通洋機油冷卻器有限公司準備建造一條針對不銹鋼圓盤式機油冷卻器的自動裝配線?；跈C油冷卻器的結構特點限制，采用完全的自動裝配是不現(xiàn)實的。因此在原來的手工裝配線，開發(fā)一條半自動裝配線符合該廠目前的實際情況。這既可以提高機油冷卻器的裝配質量，又可以節(jié)約大量成本。自動裝配線由機械系統(tǒng)（包括裝配輸送線、裝配機械手、定位裝置、壓緊設備等）、氣壓系統(tǒng)、電氣系統(tǒng)和PLC控制系統(tǒng)等部分組成. 無疑它將是機、電、氣一體化的產(chǎn)品。 關鍵詞：機油冷卻器，自動化裝配線，壓力機。 Abstract Automobile engine in high-speed rotary would get heat. Under the high temperature, a car's engine lubrication system’s reliability requirements are relatively high, especially with high-power engine. And the oil cooler can maintain engine under reliable lubrication in work, improving their reliability and life expectancy, lowering precision of engine manufacturing. It is an essential supporting device for the truck engine. With the acceleration of the process of modernization and the rapid development of the auto industry, the demand of oil cooler market increases quickly, especially for disk-oil coolers, because of its advantages of structure and properties. Oil cooler assembly process is a very important part in the manufacturing process. The assembly quality will do a direct impact on the oil cooler sealing performance. However, as the restrictions of the oil cooler of the structure, for a long time, the assembly process has relied on hand not only at home but also abroad. It is inefficient, labor-intensive. And assembly quality is mainly due to artificially ,this made the stability and reliability of oil cooler is not high. An automatic assembling line for stainless steel flat-fin oil cooler has been planed to set up at Yangzhou Tongyang Oil Cooler Co., Ltd. However, due to its structure feature, it’s not realistic to set up the fully equipped automatic assembly line of oil cooler. So based on the original manual assembling line, building semiautomatic assembly line is a ideal method which accord with real situation with the this firm at present. It can not only improve the assembling quality of oil cooler, but also save a lot of money. Automatic assembly line combines mechanical systems (including assembly line, assembly manipulator, positioning devices, compaction equipment, etc.), pressure systems, electrical systems and PLC control system. Obviously it is a composite product including machine, electricity, gas driving etc. Keywords : oil cooler, automated assembly lines, press machine . IV 外文資料翻譯 Crankshaft three degrees of freedom use the same parallel micro-mechanical structure of the experimental design 利用曲臂3個自由度的相同并列式微型機械結構的實驗設計 Abstract: Crankshaft in mechanical structure design of the small general has been replaced mechanical connection and extensive use. However, the wrong model will be reduced Crankshaft precision mechanical structure. In this paper, in order to get the correct model Crankshaft and design of a 3-DOF planar the same type of micro-mechanical structure. To that end, an initial analysis of kinematics including inverse kinematics, internal kinematics and coordination of the work of a fixed model has been raised. First of all, take into account a freedom Crankshaft cycle type, but FEM based on the simulation results is inconsistent with the analysis of the results. This is because small axial direction along the connecting rod extended to hinder the accuracy of the mechanical connection. To address this problem, including an additional sports bodies such as the prism connecting the two degree of freedom model Crankshaft has already begun to use some. According to this model, ensure the accuracy of the mechanical structure. Through simulation and test showed that the accuracy of this model is effective. This work emphasized the model Crankshaft Crankshaft guarantee the accuracy of the micro-mechanical structure tied to the use of great significance. 摘要：曲臂在機械的微小結構設計中已經(jīng)代替普通機械連接而廣泛地使用。然而，錯誤的曲臂模型會降低機械結構的精密度。在這篇論文中，為了得到正確的曲臂模型而設計了一種平面 3個自由度相同型式的微型機械結構。為此，一種初步的運動學分析包括逆運動學，內(nèi)部運動學以及有關工作協(xié)調的分析固定模型已經(jīng)被提出來了。首先，考慮到了1個自由度曲臂的循環(huán)類型，但是基于FEM的模擬結果卻與分析的結果不一致。這是因為小軸沿著連桿方向延伸從而阻礙了機械的準確連接。為了解決這個問題，一種包括這種額外的運動機構作為三棱鏡連接的2個自由度的曲臂模型已經(jīng)開始部分地使用了。根據(jù)這種模型，確保了機械結構的精確性。通過模擬和試驗顯示了這種準確模型的有效性。這項工作強調了曲臂模型的準確性對保證曲臂在并列微型機械結構中的使用具有重要意義。 Ⅰ、Introduction Ⅰ、介紹 Micro-mechanical devices in many areas is a key and essential techniques, such as scanning electron microscopy, X-ray lithography, mask alignment and micro-machinery. Recently, a lot of Crankshaft on the use of micro-mechanical structure of the analysis and experimental research. The majority of previous studies (Moriyama [1], [2], such as Taniguchi, Tomita, etc. [3], [4], such as Ryu, Chang, etc. [5], [6] Peng, etc., etc. [10] - [13] ) is the freedom to use an arm for recycling Crankshaft, three degrees of freedom for Crankshaft spherical arm, and thus the production model. However, sometimes even a small total, will do Crankshaft linear motion. Some researchers believe that there is a Crankshaft additional degree of freedom. However, they ignored the model in the process of easy mobility, but also not to micro-mechanical structure in the correct use of the fixed model. This led to the failure of the implementation of micro-systems. Therefore, the focus of this work will be easy mobility is based on the analysis of the accuracy of model Crankshaft. 微型機械裝置在許多領域是一項關鍵且必不可少的技術，例如電子顯微掃描，X射線石版印刷術，mask alignment和微型機械。最近，出現(xiàn)了很多有關利用曲臂的微型機械結構的分析和實驗研究。以前的大多數(shù)研究（Moriyama等[1],Taniguchi等[2],Tomita等[3],Ryu等[4],Chang等[5],Peng等[6]，等等[10]-[13]）是使用1個自由度的曲臂作循環(huán)臂，3個自由度的曲臂作球形臂，并以此制作模型。然而，有時就算總量很小，曲臂也會做直線運動。一些研究者認為曲臂有一種額外的自由度。但是，他們忽略了模型程序中的易動性分析，而且也沒有提出在微型機械結構中使用正確的固定模型。這就導致了微系統(tǒng)執(zhí)行的失敗。因此，這項工作的焦點將會是基于易動性分析的曲臂模型的準確性。 Introduction of the campaign because of the number of independent variables were constrained, and these independent variables, in order to find the relevant links between objects must be clearly defined. Above formula can be adopted (1) to describe the type of M, N, L, respectively Fi j and that movement, freedom of space operations, the number of links, as well as linking of the number of mobile connections i freedom. Exercise also shows that the minimum functioning of the system. When M N bigger than the sport become redundant system. 運動性因獨立變量的數(shù)目而被限制，而這些獨立的變量為了尋找物體之間的相關聯(lián)系必須明確說明。以上可以通過公式（1）來進行描述，式中M、N、L、j和Fi分別表示運動性，操作空間自由度，連桿數(shù)目，連接物數(shù)目以及第i個連接物移動的自由度。運動性也表明了系統(tǒng)運轉的最小值。當M比N大時，就成為冗余運動系統(tǒng)。 Figure 1 shows a Crankshaft have freedom of the three micro-mechanical structure. Usually, these systems can be Crankshaft rotary connector of the model. Outlined in Figure 2 of the model Crankshaft. If all Crankshaft have a degree of freedom, then the movement of the system are three degrees of freedom. However, in the past, based on such assumptions are the result of the failure of this model because of the inaccuracy of Crankshaft. On the other hand, if all are Crankshaft model of the rotary connector and prism of connections, then the campaign structure reached 12 degrees of freedom. Even if the limit of program analysis and theoretical analysis will enable the two degree of freedom model Crankshaft than one degree of freedom model Crankshaft more accurate results, but need 12 to control the operation of three degrees of freedom rather expensive. Therefore, not only the design of Crankshaft to campaign structure to a minimum, but also to ensure that the structure of precision machinery and sufficient working space. 圖1顯示了一個擁有曲臂的3個自由度的微型機械結構。通常，在這些系統(tǒng)中曲臂可以作旋轉連接物的模型。在圖2中描畫了曲臂的模型。如果所有的曲臂都有1個自由度，那么系統(tǒng)的運動性就有3個自由度。然而，以前一些基于這種假設的結果都是失敗的，這是因為曲臂模型的不準確性。另一方面，如果所有的曲臂模型都有旋轉連接物和三棱鏡連接物，那么系統(tǒng)的運動結構就達到12個自由度。即使限定結構程序分析和理論分析能夠使2個自由度的曲臂模型比1個自由度的曲臂模型有更準確的結果，但需12個運轉結構來控制3個自由度比較昂貴。因此，曲臂的設計不僅要將運動結構減至最少，而且還要確保機械結構的精密度及充分的工作空間。 In this paper, we designed two types of Crankshaft. The first type used only a relative degree of freedom to produce thicker neck parts, as shown in Figure 2, this shows that the thickness of the hinge. The second type is used to produce two-DOF relatively thin neck parts. Therefore, the second Crankshaft is a freedom with the rotary connector and a freedom connected to the prism production model. If the system of each chain are two degrees of freedom by a hinge and a two degree of freedom of the hinge, then the campaign structure is 6. Therefore, this Crankshaft through six operating structure to operate. 在這篇論文中，我們設計了兩種類型的曲臂。第一種類型只用了1個自由度來制作相對較厚的頸下部分，如圖2所示，這部分顯示了鉸鏈的厚度。第二種類型是用了2個自由度來制作相對較薄的頸下部分。因此，第二種曲臂是以擁有1個自由度的旋轉連接和1個自由度的三棱鏡連接來制作模型的。如果系統(tǒng)的每一個鏈條都是由一個2個自由度的鉸鏈和兩個1個自由度的鉸鏈組成，那么系統(tǒng)的運動結構就是6。所以說，這種曲臂可以通過6個運轉結構來操作。 Papers content in the next there will be further development. The second part describes the structure of the system. Kinematic analysis and three campaigns campaign structure and six fixed structural system analysis model respectively in the third and fourth part of a demonstration. Part V describes the two comparative freedom and freedom of a Crankshaft precision simulation results, but also embodies the six recommended by the movement of the system's benefits. Correct the effectiveness of this model can be reflected through experiments. 論文中接下來的內(nèi)容將有進一步的發(fā)展。第二部分描述了系統(tǒng)的構造。運動學分析和3個運動結構及6個運動結構系統(tǒng)的分析固定模型分別在第三和第四部分進行演示。第五部分描述了比較2個自由度和1個自由度的曲臂精密性模擬結果，同時也體現(xiàn)了所推薦的6個運動結構系統(tǒng)的優(yōu)點。這種正確模型的有效性通過實驗可以體現(xiàn)。 Ⅱ、the system structure Ⅱ、系統(tǒng)構造 The text of the proposed three-DOF tied in the same mechanical structure is a working platform and composed of three chains, each chain has three Crankshaft, as shown in Figure 1. This mechanical link in the use of all the Crankshaft, and all are connected through the pressure of the movement and operation factors. February 2 chain of three intervals between 120 °. This symmetrical structure reduced due to temperature differences and the impact of temperature imbalance. Each chain connecting the first and the third are at the bottom with the machines connected to a pressure campaign structure to operate the contrary. All the movement to promote structural connections of each round good sliding surface and rotation. 文中所建議的3個自由度的相同并列機械結構是由一個工作平臺和三個鏈條所組成的，每個鏈條有三個曲臂，如圖1所示。這種機械在所有連接處使用了曲臂，而且所有的連接物都是通過壓力運動因素而運轉。三個鏈條之間兩兩間隔120°。這種對稱結構減少了因溫度差異和溫度失調帶來的影響。每個鏈條第一和第三個連接處都是通過與機器底部相連的一對壓力運動結構而相反地進行運轉。所有的運動結構推動每個連接物的圓形表面進行良好的滑動和旋轉。 In the example in Figure 2 a type Crankshaft. This rotational movement Crankshaft equivalent to the displacement of I2 and h (θ) and. In the X direction of the linear motion distance of A (θ). 在圖2中示例了一種曲臂類型。這種曲臂旋轉運動的位移等于I2和h(θ) 之和.在X方向上的直線運動的距離為A(θ)。 Ⅲ, three campaign kinematic structure of the system Ⅲ、3個運動結構的系統(tǒng)運動學分析 In order to demonstrate a degree of freedom model of the movement of Crankshaft, we will be presented in Figure 3 of this three movement kinematics model of the system. All the previous model Crankshaft only one degree of freedom, and this system has three campaign structure. Passed the map can clearly understand this kinematic analysis. 為了演示1個自由度曲臂模型的運動狀況，我們將在圖3中介紹這種3個運動結構的系統(tǒng)運動學模型。以前所有的曲臂模型只有1個自由度，而這種系統(tǒng)擁有3個運動結構。通過下圖可以清楚地了解這種運動學分析。 A first kinematics A、第一運動學 First kinematics connected to the output rate vector and vector rate independent of the connection. Below, [G] said Jacobian, the lower left-hand corner of G machinery that tied the hands of the chain of consecutive numbers. G top right hand corner and lower right corner of the symbols that were related or independent parameters. [Gu φ] (θ, j) and [Gu φ] (i, θ) were expressed that a cylindrical j and i Pai [Gu φ]. [Gu φ] (i, j) [Gu φ] (i, j) element. Θ i, j expressed that the first i-chain chain j consecutive rate perspective. The rate for each chain relations through the formula (4) to describe the formula (4) in the output rate vector and i consecutive rate vector angle chain were defined as u and i φ. Three in a row because of the chain have the same rate in the platform, there will be a formula (5) and the formula (6). If the three foundations of a connecting link of an independent, as far as this case, the selection of three each in the chain of Jacobian contrary to the first row constitutes a separate connections to the output vector and the velocity vector of relations, and this rate relations constitute a body, the text following formula (7) indicated, φ a = [θ11θ21θ31] T [iG φ u] = [iGuφ] -1. 第一運動學連接了輸出速率向量和獨立連接物速率向量。在下文中，[G]表示Jacobian，左下角的G表示并列機械手中連續(xù)的鏈條數(shù)目。G右上角和右下角的符號分別表示相關或獨立的參數(shù)。[Guφ]（θ，j）和[Guφ]（i，θ）分別表示第j個圓柱和第i排的[Guφ]。[Guφ]（i,j）表示[Guφ]的第（i,j）個要素。θi,j表示第i個鏈條的第j個連續(xù)鏈條的角度速率。每個連續(xù)鏈條的速率關系通過公式（4）來描述，公式（4）中輸出速率向量和第i個連續(xù)鏈條的角度速率向量分別定義為u 和iφ。因為三條連續(xù)鏈條在平臺中擁有相同速率，就有了公式（5）和公式（6）。如果把三個基礎連接物作為獨立連接物，照這個情形來說，挑選三個鏈條中每個相反的Jacobian中的第一排構成了輸出向量和獨立連接物向量的速率關系，而這種速率關系又構成了一個本體，如下文公式（7）所示，其中φa=[θ11θ21θ31]T，[iGφu]=[iGuφ]-1。 Now, reverse the formula (7) in the relationship between the output of the first order for the kinematics of the system linked by formula (8) can understand that these [Gua] = [Gau] -1. 現(xiàn)在，顛倒一下公式（7）中的生產(chǎn)量關系， 第一順序促進了系統(tǒng)的運動學聯(lián)系，通過公式（8）可以了解，其中[Gua]=[Gau]-1。 B, a fixed model B、固定模型 Assumptions used in Figure 1 Crankshaft only in the Z axis, a rotary movement, while neglecting the other direction on the transfer. Crankshaft can connect all being used as a spring, in the strength of the needs or the needs of start or bending moment (or compressed). Therefore, in order to calculate input to the operation of machinery, we must use the same output as a reference to obtain the analysis of the fixed model. 假設圖1中使用的曲臂只在Z軸上有旋轉移動，而忽視了其他方向上的轉移。曲臂可以在所有的連接處被當作彈簧使用，在需要的力量下或需要的時刻彎曲或者展開（或壓縮）。因此，為了計算輸入量以便操作機器，我們必須利用同等的輸出量作為參考來獲得分析的固定模型。 Be fixed ontology of the i-chain can be written (9), including iKj said that the first paragraph i j-linked connections of fixed structure. In a state of equilibrium, the machinery of the potential energy storage can be used (10), which [iG φ u] said that contrary Jacobian φ and u make a fine replacement, can inversus [iG φ u] access. [Kuu] that fixed by the bulk of the operational space. Formula (10), we can see that the output can be fixed Ontology (11) said. According to the formula (11), an effective vector output attributed to the transfer of δ u, is defined as (12), which we should pay attention to is that when the system is symmetrical structure and the same location of the three chains have the same fixed link of the , [Kuu] is a diagonal. Ⅳ with six movable structure kinematic analysis system。 分析固定本體得到第i個鏈條可以寫成（9），其中，iKj表示第i個鏈上第j個連接物的固定結構。在平衡狀態(tài)下，機械中貯藏的潛在能量可以用（10）來表示，其中[iGφu]表示相反的Jacobian使得φ和u 發(fā)生細微置換，可以通過逆位[iGφu]獲得。[Kuu]表示固定本體所劃分的可操作空間。公式（10）中可以看出，輸出的固定本體可以用（11）來表示。根據(jù)公式（11），一個有效的輸出量向量歸因于δu的轉移，被定義為（12），其中要注意的是當系統(tǒng)處于對稱結構而且三個鏈條相同位置的連接物擁有相同固定性的時候，[Kuu]是一條對角線。 Ⅳ with six movable structure kinematic analysis system Ⅳ、擁有6個可動結構系統(tǒng)的運動學分析 When each of the link was considered Crankshaft Figure 3 (b) shown with two degrees of freedom, the movable structure is six. Records of each chain according to the first axis direction Crankshaft has extended an additional three-vector form of connectivity. Will be described below in the kinematic analysis of this situation 當每個連接處的曲臂被認為如圖3（b）所示擁有2個自由度的話，系統(tǒng)的可動結構是6個。記錄每個鏈條的第一個曲臂根據(jù)軸方向延伸擁有一個額外的三棱形連接體。在下文中將敘述這個情況的運動學分析。 A first kinematics A、第一運動學 Each of the chain, the center position (x, y) and the operating platform of the position were expressed as φ (13), (14), (15). Figure 3 of the length of the actual connectivity for Li1 said, the i-hi2 said that the chain of three-vector form of the transfer link, that link Iij of fixed length. Distinguish between the chain on each row between the first time kinematic output equation can be used (16) said. Because of three consecutive platform in the center of the chain have the same rate of the output vector, we have the formula (17), (18). Here, we think that every first and third chain of connections is independent of the connection. Therefore, a total of six separate connections. If rearranging (17), (18), then independent of the connection (φ a) and the associated connectivity of (φ p) by the relationship between the (19) was. To (19) Insert (16) in (20). Finally, the output of separate connections and the relationship between the rate adopted (21) available. 對每個鏈條來說，中心位置（x,y）和操作平臺上的φ方位分別表示為（13）、（14）、（15）。圖3中實際連接物的長度表示為Li1，其中hi2表示第i個鏈條上三棱形連接物的轉移，Iij表示連接物的固定長度。區(qū)分上述關于每個連續(xù)鏈條的第一運動學關系的時間生產(chǎn)量等式可以用（16）來表示。因為這三個連續(xù)的鏈條在平臺中心擁有相同的輸出速率向量，所以我們有公式（17）、（18）。這里，我們認為每個鏈條第一和第三個連接物是獨立連接物。因此，一共有6個獨立連接物。若重新排列（17）、（18），那么獨立連接物（φa）和相關連接物（φp ）之間的關系可通過（19）獲得。把（19）插入（16）可得（20）。最后，輸出和獨立連接物速率之間的關系通過（21）可得。 B, on the contrary kinematics B、相反運動學 The platform is a central location (x, y) position and a point of φ, all tied location of the chain links are available. But because small and mobile (21) equal relations from (22) available. In the six movable structure system, φ a u scope than the large scale. Therefore, (22) to the contrary relations from (23) available, which add to the [Gua] pseudo-opposite decomposition [Gua] + said. This shows that the potential energy system will be kept to the minimum extent is the best split (22) for the conditions. [K φ aa] that an effective fixed ontology and six independent of the connection, see (24), which said that [Kpp] ontology and related fixed line connecting devices. 給出平臺的一個中心位置（x,y）和一個方位角度φ，所有并列鏈條的連接物位置都可以獲得。因為細微移動但與（21）相等的關系由（22）可得。在6個可動結構系統(tǒng)中，φa的尺度范圍比u大。因此，（22）的相反關系由（23）可得，其中[Gua]加重的偽相反分解用[Gua]+表示。這表明將系統(tǒng)潛在能量減至最低程度的最佳分裂是以（22）為條件的。[Kφaa]表示一個有效的固定本體與6個獨立連接物有關，參看（24），其中[Kpp]表示固定本體與相關連接裝置相一致。 Finally, the independent connectivity products and the transfer of related links from (25), (26) was. 最后，獨立連接物和相關連接物的轉移由（25）、（26）獲得。 C, a fixed model C、固定模型 And connecting independent subsidiary of the fixed link of the respective body languages (27), (28), which iKj expressed that the first i-j chain of fixed connections. 獨立連接物和附屬連接物的固定本體分別寫成（27）、（28），其中iKj表示第i個鏈條的第j個連接物的固定性 Ontology compliance with the output (24) equal to the fixed body, expressed as (29), which [Caa] = [K φ aa] -1. 輸出遵守本體與（24）所給的固定本體相等，表示為（29），其中[Caa]=[Kφaa]-1。 Therefore, the effective output vector attributable to the δ u, defined as (30), [] = [Kuu Cuu] -1. 因此，有效的輸出量向量歸因于δu，定義為（30），其中[Kuu]=[Cuu]-1。 Ⅴ.Simulation Test Ⅴ.模擬試驗 FEM analysis can be used to prove the feasibility of a fixed model. Given the inherent minimal transfer platform for the operation of power systems transfer vector formula can be adopted (12) or formula (30) calculated. In FEM environment, the force applied to real vector model. Eventually, by comparison, from the initial analysis model is the transfer of FEM model output displacement vector can be tested based on dynamic analysis of the feasibility of a fixed model. FEM可以用來證明系統(tǒng)分析固定模型的可行性。給出平臺的內(nèi)在極小轉移，要求轉移系統(tǒng)的操作力量向量可以通過公式（12）或者公式（30）計算得出。而在FEM環(huán)境中，力量向量適用于實質模型。最終，通過比較，由分析模型給出最初轉移的FEM模型的輸出位移向量可以檢驗出基于可動性分析的固定模型的可行性。 Working space in the x and y direction is 0 ~ 100 um, in the direction of θ 0 ~ 0.1 °. FEM simulation test results in Figure 4 to can be seen in Figure 6. 系統(tǒng)工作空間在x和y方向上是0~100um，在θ方向上是0~0.1°。FEM模擬試驗結果在圖4至圖6中可以看出。 Variable structure has three micro-mechanical devices in order and all other direction have shown a serious mistake. On the other hand, with six of the variable structure in order micro-mechanical devices showed 5 to 10 per cent of the small mistakes, and in other aspects of performance are only some small mistakes negligible, therefore, have six variable structure System than three variable structure of the system of higher precision. 擁有3個可變結構的微型機械裝置在命令和其他所有方向都表現(xiàn)出嚴重的錯誤。另一方面，擁有6個可變結構的微型機械裝置在命令方面表現(xiàn)出5~10％的微小錯誤，而在其他方面表現(xiàn)的則只是一些微不足道的小錯誤，因此，擁有6個可變結構的系統(tǒng)比3個可變結構的系統(tǒng)有更高的精密性。 Ⅵ. fixed-analysis test Ⅵ.固定分析試驗 Crankshaft from nine developed a mechanical hand can produce a metal Machine. Six contrary piezo-actuator launched and put into use. Piezo-actuato diameter is 17.4 um. Machines in the x and y directions to the extent permitted by the 0 ~ 100 um, in the direction of θ 0 ~ 0.1 °. In this part, we have done a number of simulation experiments to prove the validity of test results. These trials are designed to simulate and forecast through fixed, the machine proved developed operational trends and the development of fixed value. Figure 8 shows the experimental operation. In Figure 9 describes in more detail. Experimental estimates will be operational in fixed below. A cylindrical rod link in the system of six sports centre. A level Hengmu links in the top rod, which is used to measure root Hengmu fixed the rotation. Shoring success is a central part of the operation through a PICOMOTOR, terminal operations through LVDT to measure the displacement of. Engine installed in manipulator links at the bottom of the F / T for measurement in the x and y directions can be fixed on the distribution of accurate information to estimate the strength, and this information can be passed force F / T measurement of the reaction to estimate. 由9個曲臂構成的發(fā)達的機械手可以制作一臺金屬線切割機。六組相反發(fā)動的piezo-actuator投入使用。piezo-actuato的直徑是17.4um。機器在x和y方向上允許的范圍是0~100um，在θ方向上0~0.1°。在這部分中，我們做了一些實驗來證明模擬試驗結果的有效性。這些試驗的目的是通過與模擬的預測固定性比較，證明發(fā)達機器可操作固定性的發(fā)展趨勢和價值。圖8顯示了實驗的操作。在圖9中更詳細描述。估量可操作固定性的實驗會出現(xiàn)在下文中。一個圓柱形的撐桿連結在6個運動結構系統(tǒng)的中心。一根水平橫木連結在撐桿的頂部，這根橫木是用來測量旋轉固定性的。撐竿的中心部分是通過一個PICOMOTOR運轉的，末端運轉位移通過LVDT來測量的。發(fā)動機設置在連結機械手底部的F/T計測器中，x和y方向上的固定性可通過分配精確的力量信息來估計，而這種力量信息又可以通過F/T計測器的反作用來估計。 Through the promotion of standards and measurement Hengmu freedom for the three rotating mechanical devices and the rotation axis to measure rotation fixed. Figure 10 shows the results. Slope of three degrees of freedom in the mechanical device in each direction on fixed. Observation showed that in the x and y directions are identical to the fixed This proves that the previous [9] reported the results of the analysis. From the test and simulation of workable get stuck in Table 1 lists, which kxx, kyy, k θθ that tilt terminology [kww]. 通過推動水平橫木和測量因3個自由度的機械裝置旋轉而產(chǎn)生的旋轉軸來測量旋轉固定性。圖10顯示了實驗結果。坡度體現(xiàn)了在3個自由度的機械裝置中每個方向上的固定性。觀察表明，在x和y方向上的固定性是完全相同的，這證明了先前[9]中所報道的分析結果。從試驗和模擬中獲得的可操作固定性在表1中列出了，其中kxx，kyy，kθθ表示傾斜術語[kww]。 As shown in Figure 1, simulation and test results between about 30% of the theoretical error rate. It is not perfect, but since the shooting parameters of the micro-system, it is sensitive to the satisfaction of people. The error rate in part because of manufacturing errors, and the other was partly due to measurement errors caused. We believe that these errors can be improved through the design and the actual design of Calibration technology improvements to make up for. 如圖1所示，在模擬和試驗結果之間大約有30％的理論錯誤率。它并不完美，但自從微型系統(tǒng)對射擊參數(shù)敏感時它還是讓人滿意的。這個錯誤率一部分是因為制造上的錯誤，另一部分是由于測量上的錯誤造成的。我們相信這些錯誤可以通過設計的改善和實際設計中校準刻度技術的改進來彌補。 Ⅶ. conclusions Ⅶ.結論 Crankshaft inaccurate model can not ensur