• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2016, Vol. 52 ›› Issue (9): 18-27.doi: 10.3901/JME.2016.09.018

• 机构学及机器人 • 上一篇    下一篇

基于虚功原理的一种新型锻造操作机主运动机构动力学分析

丁华锋1, 2, 3, 祖琪1, 冯泽民2, 3   

  1. 1. 燕山大学工业计算机控制工程河北省重点实验室 秦皇岛 066004;
    2. 先进锻压成形技术与科学教育部重点实验室(燕山大学) 秦皇岛 066004;
    3. 燕山大学河北省并联机器人与机电系统实验室 秦皇岛 066004
  • 出版日期:2016-05-05 发布日期:2016-05-05
  • 作者简介:丁华锋(通信作者),男,1977年出生,博士,教授,博士研究生导师。主要研究方向为机构综合及机械装备的创新设计。E-mail:dhf@ysu.edu.cn;祖琪,女,1990年出生。主要研究方向为复杂机械装备运动学、动力学和控制。E-mail:zqysu77@163.com
  • 基金资助:
    国家自然科学基金资助项目(51275437, 51422509)

Dynamic Analysis of A New Forging Manipulator’s Main Motion Mechanism Based on the Principle of Virtual Work

DING Huafeng, ZU Qi, FENG Zemin   

  1. 2.Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University,Qinhuangdao 066004;
    Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao 066004;
    Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004
  • Online:2016-05-05 Published:2016-05-05

摘要: 提出一种新型6自由度前后双提升驱动式锻造操作机。基于复矢量法对操作机主运动机构的运动学进行全面分析。其次将液压缸的缸体和活塞杆简化为一个构件的情况下,基于虚功原理推导并建立主运动机构的动力学数学模型。分别在水平升降运动、俯仰运动以及前后缓冲运动三种运动状态下对夹钳末端进行正弦速度规划,并在给定负载情况下对动力学模型进行了仿真分析。将该简化模型与实际中将液压缸的缸体和活塞杆分为两个构件的动力学模型进行仿真对比分析,得到各驱动液压缸分别在三种运动状态下输出驱动力的误差曲线。结果表明该新型锻造操作机的主要承重构件为前提升缸。简化模型等效于实际模型,并且有效简化了动力学的建模过程。研究结果为该机构的设计和应用提供了重要的理论依据。

关键词: 动力学分析, 新型锻造操作机, 虚功原理, 运动学分析

Abstract: A new-type of six-DOF forging manipulator which has front and rear lifting drivers is proposed. The complex vector is used to conduct a comprehensive analysis of the kinematics of the forging manipulator’s major-motion mechanism. The dynamic model of the major-motion mechanism is established based on the principle of virtual work in the case of regarding the cylinder and piston of hydraulic cylinder as one component. The sine velocity planning is made on the end of clamp under the movements of lifting, pitching and horizontal, and the dynamics model is simulated in the case of the given load. The dynamic model of the reduced model is compared with the theoretical model which regards the cylinder and piston of hydraulic cylinder as two components, and the driving force error curve of three hydraulic cylinders of the two models under the condition of three kinds of movements is got. The result shows that the main bearing component of the new forging manipulator is the front lifting hydraulic cylinder. The reduced model is equivalent to the theoretical model, and it simplifies the dynamics modeling process effectively. The result provides an important theoretical basis for the design and applying of the mechanism.

Key words: dynamics analysis, kinematics analysis, new-type forging manipulator, principle of virtual work

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