平面凸轮机构的设计方法与动态特性分析

Design and Dynamic Analysis of the Planar Cam Mechanism

建立平面闭环机构的运动学方程,根据轨迹上给定点构造从动件位移的三次样条函数,进而确定了最小基圆半径的方程.另外,运用集中参数法建立了摆动从动件盘形凸轮机构的等效动力学模型.根据平面机构的设计方法并结合动态特性分析,采用气动控制和凸轮式机械手相结合的方式来设计纱管抓手装置,实现自动接头机械手在落筒动作过程中纱管的自动抓取和放置过程,并对纱管抓手进行了仿真运动分析.

The kinematics equation of colsed-chain planar mechanism was provided. The cubic spline function of cam follower＇s displacement was constructed according to the set point of moving trajectory, and the feasible way of determining the radius of cam＇s base circle was also provided. In addition, the dynamically equivalent model based on parametrically centralized method of the disk cam with oscillating follower was established. According to the design methods and dynamic analysis, manipulator with cam mechanism and pneumatic cylinder for automatically picking and placing new quill in the package doffing process of an automatic piecing machine was designed, and the kinematics analysis of the tube gripper was simulated.