摘要
为了实现一种新型锻造操作机主运动机构的尺度优化,首先求解了该锻造操作机机构的位置及静力学反解。提出了一种采用ADAMS软件的几何线条建立该新型锻造操作机参数化模型的新方法,这种方法建模简单快捷,添加运动副方便,易于实现参数化。定义了升降缸驱动力效率和俯仰缸驱动力效率,然后基于升降缸驱动力效率及所需行程指标对升降驱动机构进行了尺度优化,以俯仰缸驱动力效率及所需行程为优化目标对俯仰驱动机构进行了尺度优化。最后基于解耦性指标对缓冲机构进行了尺度优化,结果使钳杆升降过程中其水平位移接近为零,极大地简化了锻造加工控制过程。
The inverse position and statics of the mechanism of a novel forging manipulator are solved in order to realize dimensional optimization of the main-motion mechanism of a novel forging manipulator. A new approach which used the geometric line of the ADAMS software is proposed for establishing parametric model of the forging manipulator. The new approach is simple and rapid to establish the parametric model, convenient to add kinematic pairs, and easy to realize parameterization. In addition, driving force＇s efficiency of the lifting hydraulic cylinder and that of the pitching hydraulic cylinder are defined. Then dimensional optimi zation of the lifting actuated mechanism is carried out based on the driving force＇s efficiency and the required stroke of the lifting hydraulic cylinder, and dimensional optimization of the pitching actuated mechanism is conducted based on the driving force＇s ef ficiency and the required stroke of the pitching hydraulic cylinder. Finally, the buffering mechanism＇s dimension is optimized with the decoupling performance being the objective, and the results show that the gripper carrier＇s horizontal displacement is nearly equal to zero in the process of lifting, which greatly simplifies the control of the forging process.
出处
《燕山大学学报》
CAS
2013年第4期311-316,共6页
Journal of Yanshan University
基金
"高档数控机床与基础制造装备"国家科技重大专项项目(2010ZX04013-021)
河北省重点基础研究资助项目(09962119D)
关键词
锻造操作机
尺度优化
几何线条
参数化建模
解耦性
forging manipulator
dimensional optimization
geometric line
parameterized design
decoupling
