摘要
巨型重载操作机是极限制造装备技术的重要体现,为了降低操作机的控制难度,研究3种常见锻造操作机主运动机构的解耦性问题。建立3种锻造操作机的运动学模型,并求解机构的速度输入—输出关系矩阵,发现在传统的输出参数定义下,3种操作机的输入始终处于耦合状态。根据实际工作状态重新定义输出参数,在此基础上提出一个新的解耦定义方法。分别单独求解每个动作下的速度的输入—输出关系矩阵,并且利用Matlab仿真验证,发现其中一种操作机的主运动机构是完全解耦的,而另外两种操作机属于部分解耦。从锻造操作机主运动机构的解耦过程来看,重新定义输出是一种直观的解耦方法,该方法为并联机构的解耦提供一种新思路。
Heavy-duty forging manipulators play an important role in the extreme manufacturing. Decoupling performance of major-motion mechanism for three commonly used forging manipulators is studied to simplify the control of manipulators. The kinematics of the forging manipulators are analyzed,and the input-output relationship matrix in terms of velocity shows that all the three types of forging manipulators are coupled according to the definition of conventional output parameters. A new decoupling concept is established,which redefines the output based on the realistic working condition. The input-output relationships are considered independently for each main motion,and the process is simulated in Matlab to validate the results. The major-motion mechanism of one forging manipulator is decoupled,while the other two are partially decoupled. From the viewpoint of decoupling of the main-motion mechanism of forging manipulators,the proposed method is intuitive,which provides a new idea for the decoupling of parallel mechanisms.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2010年第11期14-20,共7页
Journal of Mechanical Engineering
基金
国家重点基础研究发展计划(973计划
2006CB705402)
国家自然科学基金重点(60534020)
国家高技术研究发展计划(863计划
2009AA044102)资助项目
关键词
锻造操作机
主运动
解耦
并联机构
Forging manipulator Major-motion Decupling Parallel mechanism
