摘要
锻造操作机与压机的协调作业可以实现大型锻件的加工制造,提高锻造系统的制造能力和材料利用率,降低系统的能耗。操作机的操作性能是锻造工艺轨迹的设计基础,也是操作机主运动机构的优化目标。根据锻造操作机的操作特点,归纳操作机的主要操作性能:运动灵巧性、动态灵巧性、力承载性能和末端刚度性能,并借鉴机器人学的运动可操作性、力可操作性和动态可操作性的研究成果引入相应的评价指标。通过对锻造工艺的分析和与传统工业机器人的对比,总结操作机的两大特殊的性能要求:对力承载性能的方向性要求和末端刚度性能的方向性要求,提出有效操作力指数和刚度方向指数。应用旋量理论计算操作机的雅可比矩阵,建立其动力学模型,对两种锻造操作机的各项性能做了全面对比,为操作机的设计与优化提供参考依据。
Heavy forging manipulators,co-operating with presses,are used to increase the manufacturing capacity and material utilization of forging systems and reduce the energy consumption. The manipulation performances are fundamental for design of forging process,and also the objectives of optimization of mechanism design. The main manipulation performances of heavy manipulators,i.e. kinematic and dynamic dexterity,force bearing capability and stiffness performance are analyzed. The approach followed here is based on the ellipsoids of kinematic,dynamic and force manipulability,which are extended to stiffness ellipsoid. And in response to characteristics of heavy manipulation on the directional property of force capabilities and stiffness,effective manipulating force index（EMFI） and stiffness direction index（SDI） ,are presented to assess the force and stiffness performances. By means of screw theory,the Jacobian matrices and the dynamic models of two typical manipulators are calculated at three configurations. And the performances of these manipulators are compared for the further investigations on mechanism design and optimization.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2010年第11期69-75,共7页
Journal of Mechanical Engineering
基金
国家重点基础研究发展计划资助项目(973计划
2006CB705400)
关键词
锻造操作机
灵巧性
力承载能力
刚度
Forging manipulator Dexterity Force bearing capability Stiffness
