完全解耦式锻造操作机运动机理与动力学

许允斗; 滕志程; 梁晶晶; 朱为国; 赵永生

doi:10.3788/OPE.20162401.0160

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完全解耦式锻造操作机运动机理与动力学

微纳技术与精密机械 | 更新时间：2020-08-13

- 完全解耦式锻造操作机运动机理与动力学
- Mechanism and dynamics of fully decoupled forging manipulator
- 光学精密工程 2016年24卷第1期页码：160-168
- 作者机构：
  
  1. 燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛,066004
  2. 燕山大学先进锻压成型技术与科学教育部重点实验室,河北秦皇岛,066004
  3. 淮阴工学院江苏省数字化制造技术重点建设实验室,江苏淮安,223001
- 作者简介：
- 基金信息：
  
  河北省自然科学基金资助项目(No.E2014203255)();江苏省高校自然科学研究重大项目(No.14KJA460001)()
- DOI：10.3788/OPE.20162401.0160
  中图分类号： TG315
- 收稿日期：2015-07-20，
  
  修回日期：2015-09-18，
  
  纸质出版日期：2016-01-25
- 稿件说明：
移动端阅览
许允斗, 滕志程, 梁晶晶等. 完全解耦式锻造操作机运动机理与动力学[J]. 光学精密工程, 2016,24(1): 160-168

XU Yun-dou, TENG Zhi-cheng, LIANG Jing-jing etc. Mechanism and dynamics of fully decoupled forging manipulator[J]. Editorial Office of Optics and Precision Engineering, 2016,24(1): 160-168
许允斗, 滕志程, 梁晶晶等. 完全解耦式锻造操作机运动机理与动力学[J]. 光学精密工程, 2016,24(1): 160-168 DOI： 10.3788/OPE.20162401.0160.

XU Yun-dou, TENG Zhi-cheng, LIANG Jing-jing etc. Mechanism and dynamics of fully decoupled forging manipulator[J]. Editorial Office of Optics and Precision Engineering, 2016,24(1): 160-168 DOI： 10.3788/OPE.20162401.0160.

摘要

为了实现锻造操作机升降运动与水平移动之间的解耦

提出了一种从结构组成原理上实现解耦的锻造操作机机构

并对该机构的运动机理和动力学性能进行了研究与实验验证。首先

基于Hoekens四连杆机构介绍了完全解耦式锻造操作机的结构组成原理;运用螺旋理论工具分析了完全解耦式操作机机构的自由度

对其升降运动和水平移动之间的解耦机理进行了剖析。然后

基于虚功原理建立了操作机机构动力学模型

比较分析了该解耦式操作机机构和典型平行连杆式操作机机构在升降运动和锻造加工过程中的受力性能。最后

研制了该新型解耦式操作机的比例实验模型

采用激光跟踪仪测试了钳杆在升降过程中的水平位移变化量。实验结果表明:在升降运动过程中

钳杆在水平方向的位移变化量在1 mm之内

基本上验证了该完全解耦式锻造操作机能够实现升降运动与水平移动之间的解耦。

Abstract

To achieve the decoupling between the lifting movement and the horizontal movement of a forging manipulator

a kind of manipulator mechanism to achieve the decoupling was presented based on the structural composition principle

and the motion mechanism and the dynamic performance were studied and verified by experiments. Firstly

the composition principle of a fully decoupled forging manipulator was introduced based on the Hoekens four-bar mechanism. The degree of freedom of the fully decoupled forging manipulator was analyzed by using the screw theory

and the decoupling mechanism between the lifting movement and horizontal movement was also dissected. Then the dynamic model was established by using the principle of virtual work. The mechanical behavior between the new mechanism of forging manipulator and the typical parallel-link one was compared and analyzed in the lifting movement and the forging process. Finally

an experimental model of the new forging manipulator mechanism with ratio 1/20 was developed to verify its decoupling performance. Experimental results indicate that during the lifting movement

the displacement variation of the gripper carrier in the horizontal direction remains within 1 mm

which basically verifies that the fully decoupled forging manipulator mechanism achieves the decoupling between the lifting movement and the horizontal movement.

关键词

Keywords

references

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