锻造操作机钳杆操纵过程的动力学特性分析

Analysis on dynamic characteristics of forging manipulator clamp during operation

以某企业小吨位锻造操作机为研究对象,对锻造操作机钳杆操作机构的上下平移和上下摆动两种工况进行简化,针对不同外激励建立了简化的钳杆操作机构数学模型,并应用杜哈梅积分(Duhamel's integral)数值计算求解,得到锻造操作机钳杆操纵过程的动力学方程。采用Matlab软件对钳杆操纵过程进行动力学仿真,得到了钳杆操作机构的动力学特性曲线。定量地分析了锻造操作机钳杆操作机构的动力学特性。

Clamp, which is actuating mechanism of completing basic functions of forging manipulator, is used for hold workpiece to accomplish desired work task. The operational characteristic of clamp actuating mechanism plays a crucial role in performance of forging manipulator. Making a small-tonnage forging manipulator in an enterprise as its research object, this article simplifies two operating modes for actuating mechanism of the forging manipulator clamp, i. e. upper and lower translations and up and down swing, sets up mathematical model for simplified clamp actuating mechanism according to different external excitations, solves by use of Duhamel＇s integral numerical value to get the dynamic equation of forging manipulator clamp during operation. Matlab software is adopted to carry out the dynamic simulations of clamp operation process and dynamics characteristic curves of clamp actuating mechanism are obtained. Dynamics characteristics of forging manipulator clamp actuating mechanism are quantitatively analyzed.