摘要
为合理设计操作机悬挂系统的缓冲装置以减小惯性冲击的影响,针对平行连杆式锻造操作机,简化了设备模型,分析了制动工况下悬挂系统各杆件的受力状态和运动规律,并利用牛顿-欧拉法综合各杆件的动力学分析,建立了悬挂系统在制动时的动力学模型,提出了缓冲装置刚度及阻尼参数确定的思路。以300kN锻造操作机为例,在MATLAB中求解操作机悬挂系统动力学微分方程,分析了缓冲刚度、阻尼对吊杆摆角、钳杆质心运动规律的影响。结果表明,利用牛顿-欧拉法建立模型确定缓冲刚度与阻尼参数的方法是可行的与合理的,从而为平行连杆式操作机悬挂系统缓冲装置的刚度与阻尼设计提供了理论依据。
In order to design a buffer device of forging manipulator＇s suspension system rationally to reduce the influences of inertial impacts,aiming at the parallel style forging manipulators,the model of forging manipulator was simplified,the stress states and the motion laws of rods in the suspension system under the braking conditions were analyzed.By using Newton-Eular rule with dynamic analysis of the rods,the suspension system＇s dynamics model under braking conditions was constructed and the method of determining parameters such as buffer device＇s stiffness and damping was proposed.Using a 300 kN forging manipulator as an example,the dynamics differential equation of the manipulator＇s suspension system was solved with MATLAB to analyze the buffering stiffness and damping＇s influences on the hanging bar＇s swing angle and the motion of clamping bar＇s centroid position.The results indicate the feasibility and rationality of determining buffering stiffness and damping using the model constructed with Newton-Eular rule and provide theoretical basis for the stiffness and damping design of the parallel link-manipulator＇s suspension system.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2016年第23期3130-3135,共6页
China Mechanical Engineering
基金
国家自然科学基金资助项目(51265022)
甘肃省科技计划资助项目(145RJZA187)
关键词
锻造操作机
悬挂系统
缓冲装置
牛顿-欧拉方程
刚度
阻尼
forging manipulator
suspension system
buffer device
Newton-Euler equation
stiffness
damping
