基于运算模块的锻造操作机主运动机构运动学与动力学分析

Analysis of kinematics and dynamics of major-motion mechanism of forging manipulator based on algorithm module

提出运算模块和运算图谱的概念并建立了运算模块的运动及力的模型、主运动机构运动学和逆动力学运算图谱,进而得到上述运算图谱统一求解函数。通过运算图谱统一求解函数得到一种新型主运动机构的位置正解、反解曲线图,从而得出该机构可实现近似直线的水平提升,有利于简化操作机的控制系统。同时得到在升降、前后缓冲和俯仰运动过程中各驱动力曲线图,利用ADAMS软件建立机构连杆虚拟模型,力的仿真曲线与力的数值计算曲线吻合,验证了该方法的正确性。

The algorithm module and the algorithm group are proposed. M eanw hile the mathematical model of kinematics and dynamics of the algorithm module and the algorithm graphs of the major-motion mechanisms are established. And then the functions of the algorithm graphs are obtained. The forw ard and inverse position graphs of a novel major-motion mechanism are obtained based on above method of analyzing the kinematics and inverse dynamics. These graphs indicate the novel manipulator can realize approximate linear lifting,w hich simplify the control system of the forging manipulator. The actuator force graphs during lifting,horizontal-translation,pitching motion are obtained. M eanw hile the virtual model based on ADAM S is built. The correction of the new method is verified by the simulation and calculation.