基于末端任务特征的操作机构型综合

Mechanism Synthesis for Forging Manipulators Based on End Task Characteristics

依据锻造操作机的末端运动特征与输入和输出关联特性,将构型任务分为3组。建立机构运动输出特征矩阵,以有序单开链单元作为设计目标对主运动机构特征进行构型综合,然后基于系统整体特性与操作机极端服役环境对3组特征进行整合构造,最终得到众多操作机整机构型。分析了部分具有代表性的典型机构与新型机构的输入和输出关联特性与控制解耦性。结果表明,就控制解耦性而言,所综合出的部分新构型要优于传统构型。

According to the characteristics of forging manipulator＇s end movement and the output correlation, the type synthesis tasks were divided into three groups, the mechanism motion output matrix was built, the single ordered opened chain was taken as a design objective, and the structure synthesis of the main motion mechanism was carried out. Then the characteristics of the three groups were integated based on the whole system and the extreme service environment of forging manipulator, and finally a lot of kinds of manipulators＇ complete configurations were integrated. The input and output co-relational characteristics of some mechanisms and control decouping were studied. The results show that some new configurations are superior to the typical configurations for the control decouping.