基于ADAMS的中药旋转取袋机构刚柔耦合动力学研究

Rigid-flexible Coupling Dynamics for Traditional Chinese Medicine Rotary Bag-taking Mechanism Based on ADAMS

为了探究中药旋转取袋机构中的多刚体系统与柔性多体系统各自的运动精度与可靠性问题,建立基于笛卡儿模型的运动学与动力学约束方程对多刚体系统进行运动学数值分析,并构建柔性多体系统的力学模型,最后运用ADAMS动力学仿真模块对多刚体系统与柔性多体系统进行动力学仿真分析。研究结果表明:运动中的刚性光轴在0~3.0 s、6.0~7.5 s以及10.5~4.0 s时间区间内的速度变化范围为-0.45~0.50 m/s;运动中的柔性光轴在相同时间区间内,速度变化范围是-2.00~1.50 m/s,变化频率高、幅值大。柔性多体系统在运动过程中精确度明显提高的原因是零部件运动过程中自转角的线性离散变化,而多刚体系统中零部件自转角的振荡变化与速度幅值过大是造成机构运动不稳定的主要原因,故而将部分重要构件柔性化以解决机构运动稳定性问题。

In order to explore the motion accuracy and reliability of the multi-rigid body system and the flexible multi-body system in the rotary bag-taking mechanism of traditional Chinese medicine,the kinematic and dynamic constraint equations based on the Cartesian model are established,the kinematic numerical analysis of the multi-rigid body system is carried out,the mechanical model of the flexible multibody system is established,and the dynamic simulation analysis of the multi-rigid body system and the flexible multi-body system are carried out by using the ADAMS dynamic simulation module.The results show that the speed variation range of the rigid optical axis in motion in the time range of 0-3.0 s,6.0-7.5 s and 10.5-4.0 s is-0.45-0.50 m/s.In the same time interval,the speed change range of the flexible optical axis in motion is-2.00-1.50 m/s,with high change frequency and large amplitude.The reason for the obvious improvement of the accuracy of flexible multibody system in the motion process is the linear discrete change of the rotation angle during the movement of the parts,and the oscillation change and velocity amplitude of the rotation angle of the parts in the multi-rigid body system are the main reasons for the instability of the mechanism motion,so some important components are flexible to solve the problem of mechanism motion stability.