新型有结织网机孔板运动机构的运动分析与仿真

Kinematic analysis and simulation of the orifice plate motion mechanism of the new knotted netting machine

提出一种适用于伺服系统驱动的有结织网机孔板运动机构,以配合上、下针钩及梭盘快速完成打结动作。相比传统并联机构,该机构由两个驱动副轴线垂直的平面机构耦合组成,属于一种自由度少、耦合度弱的2RSS-RC并联机构。根据螺旋理论与修正Kutzbach-Grübler公式得出该机构的自由度为3,运动性质为2个移动和1个转动;通过两耦合投影面建立封闭矢量环方程并对机构进行逆运动学分析;基于蒙特卡洛法和位置逆解,使用MATLAB软件编程求出该并联机构的工作空间;通过分段5次多项式插值对机构进行路径规划,利用Adams仿真软件验证运动学模型的正确性。结果表明,此孔板运动机构满足有结织网机所需的打结工艺的性能要求,研究可为有结织网机孔板运动机构实现伺服驱动化奠定理论基础。

A new type of orifice plate motion mechanism driven by a servo system for kotted weaving machine was proposed to cooperate with the upper and lower needle hooks and bobbin to quickly complete the knotting action. Compared with the traditional parallel mechanism, the mechanism consists of two plane mechanisms with vertical drive sub-axis, which is a kind of 2 RSS-RC parallel mechanism with few degrees of freedom and weak coupling. According to the spiral theory and modified Kutzbach-Grübler formula, the degree of freedom of the mechanism was 3, and the nature of motion was 2 movements and 1 rotation. The closed vector ring equation was established by two coupled projection surfaces and the inverse kinematics of the mechanism was analyzed. Based on Monte Carlo method and position inverse solution, the working space of this parallel mechanism was programmed by MATLAB saftware. The trajectory planning of the mechanism was carried out through fifth-order polynomial interpolation, and the correctness of the kinematics model was verified by Adams simulation. The results show that the orifice plate motion mechanism meets the performance requirements of the knotting process of the knotted weaving machine, and the study can lay the theoretical foundation for the servo-driven orifice plate motion mechanism of the knotted netting machine.