基于虚功原理的一种新型锻造操作机主运动机构动力学分析

Dynamic Analysis of A New Forging Manipulator's Main Motion Mechanism Based on the Principle of Virtual Work

提出一种新型6自由度前后双提升驱动式锻造操作机。基于复矢量法对操作机主运动机构的运动学进行全面分析。其次将液压缸的缸体和活塞杆简化为一个构件的情况下,基于虚功原理推导并建立主运动机构的动力学数学模型。分别在水平升降运动、俯仰运动以及前后缓冲运动三种运动状态下对夹钳末端进行正弦速度规划,并在给定负载情况下对动力学模型进行了仿真分析。将该简化模型与实际中将液压缸的缸体和活塞杆分为两个构件的动力学模型进行仿真对比分析,得到各驱动液压缸分别在三种运动状态下输出驱动力的误差曲线。结果表明该新型锻造操作机的主要承重构件为前提升缸。简化模型等效于实际模型,并且有效简化了动力学的建模过程。研究结果为该机构的设计和应用提供了重要的理论依据。

A new-type of six-DOF forging manipulator which has front and rear lifting drivers is proposed. The complex vector is used to conduct a comprehensive analysis of the kinematics of the forging manipulator’s major-motion mechanism. The dynamic model of the major-motion mechanism is established based on the principle of virtual work in the case of regarding the cylinder and piston of hydraulic cylinder as one component. The sine velocity planning is made on the end of clamp under the movements of lifting, pitching and horizontal, and the dynamics model is simulated in the case of the given load. The dynamic model of the reduced model is compared with the theoretical model which regards the cylinder and piston of hydraulic cylinder as two components, and the driving force error curve of three hydraulic cylinders of the two models under the condition of three kinds of movements is got. The result shows that the main bearing component of the new forging manipulator is the front lifting hydraulic cylinder. The reduced model is equivalent to the theoretical model, and it simplifies the dynamics modeling process effectively. The result provides an important theoretical basis for the design and applying of the mechanism.