气囊抛光进动机构的运动建模与仿真

MOVEMENT MODELING AND SIMULATION OF PRECESSION MECHANISMS FOR BONNET TOOL POLISHING

气囊抛光工具的进动由一类特殊的2自由度空间机构实现。针对此2自由度空间机构运动,运用机构学理论,推导了这一空间机构的基本坐标变换,建立了各参数之间的内在关系。在此基础上,根据进动要求建立了这一空间机构的进动运动方程,通过仿真研究了气囊进动过程中运动参数的变化规律。结果表明在进动过程中,合成进动运动的2自由度运动有一定的运动规律,同时所建立的模型为该空间机构的进一步分析和运动控制提供了依据。

Precession movement of bonnet tool polishing is realized by a spatial mechanism with 2 degrees of freedom （DOF）. To the 2-DOF mechanism, the basic coordinate transformation is deduced and relationships among various parameters are analyzed with the theory of spatial mechanism. According to the requirements of precession, the motion equation of the spatial mechanism is developed. Simulation study is provided on the parameters of precession. Result shows that the 2-DOF movement which composifing the precession has specified laws. These results can be used for the furher analysis and motion control of the mechanism.