机械压力机肘杆式工作机构运动学建模与分析

Kinematics modeling and analysis on toggle mechanism for mechanical press

为了分析机械压力机工作机构的运动学特性,应用矢量方程解析法对曲柄肘杆机构进行了运动学分析,在封闭矢量图基础上建立了机构的位移方程,推导了对应速度方程和加速度方程,并得到待求量的解析式;采用机构数值分析法对运动学模型进行了求解分析,设计了运动学方程计算程序框图,基于MATLAB软件编写了计算程序,对非线性运动学方程进行数值求解,并对计算结果进行图形化处理,得到了肘杆摆角以及滑块位移、速度和加速度运动曲线;利用计算结果定量分析工作机构的肘杆摆角极限、最大滑块行程、滑块平均速度与标准方差,并验证了曲柄肘杆机构的设计合理性。

In order to analyze the kinematic characteristics of working mechanical for mechanical press,the crank toggle mechanism was analyzed on kinematics by the vector-equation analytical method,and the displacement equations of machanism were built based on the closed vector diagram. Then,the velocity and acceleration equations were derived,and the unknown quantities were obtained. Next,the kinematics model was solved and analyzed by numerical analysis method,and the block diagram for calculation program of kinematic equation was designed. Furthermore,the calculation program was written based on the software MATLAB,and the numerical solution of these nonlinear motion equations was conducted. Finally,the toggle swing angles,slide motion curves of displacement,speed and acceleration were obtained,and the graphical process for calculation results was conducted. By these graphically quantitative results,such as limitation of swing angles,the maximal displacement of slide,mean velocity of slide and standard deviation,the rationality of design for the toggle working mechanism could be verified.