单道次三维变截面辊弯成形装备运动学研究

Kinematics Research of Single Pass 3D Variable Cross-section Roll Forming Equipment

为了开发三维变截面辊弯成形装备的控制算法,分析了三维变截面辊弯成形的基本原理和运动形式,给出了单道次三维变截面成形装备的机构简图,基于D-H方法建立了该机构的正运动学方程,并结合成形轨迹曲线求解了各关节的位置逆解方程.然后,对某型轿车的B柱加强板零件进行了数字实例仿真,获得了相应的各关节的位置曲线,仿真结果表明,本文所提出的运动学分析方法有效、可行,为后续三维变截面成形装备的控制系统开发提供理论依据.

In order to develop the control algorithm for 3Dvariable cross-section roll forming Equipment,the roll forming principle and kinematics analysis was discussed and the mechanism diagram was given.Kinematics equations were established base on the D-H method,while inverse kinematics equations were solved.Combined forming trajectory with the inverse kinematics equations,the inverse kinematics equation of each joint was derived.Then,the digital formulation of Bpillar reinforcement plate of car parts was performed for kinematics analysis.The simulation results show that the proposed kinematics method is effective,feasible and provide a theoretical basis for the development of control system of 3Dvariable cross-section roll forming equipment.