球面4R引纬机构运动及载荷特性研究

Kinematics and loading characteristics research of spherical 4R mechanism

针对剑杆织机引纬机构空间球面特殊的运动特征和载荷变化等问题,分别将空间机构运动的几何等同性和动静法的方法应用到该机构的运动函数和轴承载荷的推导中。对该球面机构中做空间运动的构件开展了输出运动特性和惯性载荷特性的分析,建立了输出转角、动能以及惯性力矩与输入转角之间的直接表达关系,通过将已建立的三维模型导入Adams软件,利用其中的机构分析功能对引纬机构进行了动态仿真,对比了由理论计算与仿真得到的曲线。研究结果表明,球面4R机构中的两个结构参数影响其空间构型及空间连杆的运动空间,是箱体设计的依据要素;空间连杆的载荷可以通过公式计算。

Aiming at the problems of the special kinetic characteristics and load changes of spherical space in rapier loom weft insertion mechanism,the geometric equivalence of spatial kinematics and dynamic equilibrium were investigated for deducing motion functions and bearing load. After the analysis of moving member＇ s output kinetic characteristics and inertial load characteristics in the spherical mechanism,the direct expression relationship between output angle,kinetic energy,inertia moment and input angle was established,the 3D model established was imported into Adams software,mechanism analysis function was used to make dynamic simulation of weft insertion mechanism,and curves which were obtained by theory and simulation were compared. The results indicate that two structural parameters of spherical 4R mechanism affect the spatial configuration and motion space of spatial linkage,which is the basis elements of box design; The load of spatial linkage can be calculated by formula.