摘要
对大型DDS锻造操作机提升机构进行了运动学分析,建立了操作机的运动学模型,在此基础上运用数值优化方法对其进行了优化设计。对比分析了优化结果与其他不同工况的仿真结果,研究结果表明夹钳在提升过程中其水平方向的误差较小。得到提升机构的最优设计参数。
Kinematic analysis of the lifting mechanism is carried out on large DDS manipulator. A ki- nematic model for manipulator is built. Based on numerical optimization, the lifting mechanism of ma- nipulator is optimized. By comparing the results of optimization and the simulation results of various other conditions, the lifting error of manipulator tongs is reduced in the horizontal direction. This opti- mization method and model are effective for the lifting mechanism design.
出处
《重庆理工大学学报(自然科学)》
CAS
2012年第4期53-56,共4页
Journal of Chongqing University of Technology:Natural Science
基金
国家重大专项资助项目(2010ZX04013-021)
关键词
操作机
提升机构
运动学优化
manipulator
lifting mechanism
kinematical optimization