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以并联机器人技术为切入点,提出了一种可实现空间三维移动的大型直剪仪设计与分析方法。通过分析现行土工合成材料直剪试验存在的问题,给出了面向应用的直剪仪设计原则,并综合了一种并联机器人驱动机构,以此为基础设计了一种可实现空间各向移动的大型直剪仪设备;基于并联机构影响系数法分析了直剪试验过程,建立了驱动机构输入运动与土样剪切运动之间的映射,获得了表征这种映射关系的运动学、动力学模型。结合相关规范制定了各结构参数,通过数值算例考察了直剪试验过程中位移、速度、力的变化规律,并分析了土工合成材料各向异性力学特性。该研究成果可用于新型直剪仪生产与控制,同时也为并联机器人技术在交通运输行业中的进一步研究和应用奠定了基础。
Based on the parallel robot technology, a design and analysis method of large direct shear instrument is proposed to realize the three-dimensional movement of space. By analyzing the existing problems in the direct shear test of geosynthetics, the design principle of the direct shear device for application is given, and a parallel robot drive mechanism is synthesized. Based on this, Large direct shear device. Based on the influence coefficient method of parallel mechanism, the direct shear test process is analyzed, and the mapping between the input motion of driving mechanism and the shear movement of soil sample is established. The kinematics and dynamics model that characterizes the mapping relationship is obtained . The structural parameters were formulated in accordance with the relevant specifications. The displacement, velocity and force variation during direct shear test were investigated by numerical examples. The anisotropic mechanical properties of geosynthetics were also analyzed. The research results can be used for the production and control of the new direct shear instrument, and also laid the foundation for the further research and application of parallel robotics in the transportation industry.