一种典型dds锻造操作机运动学分析 7页

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<>LDIM2$3(N322.1_]gO1CO1xyzy zxNyz!"2#$%1DDS&'()*+,-./012328G1H1$G2H2OOPQRS&O1xz4#5678)9:;<=O1xz"1236*S"TUO1AV"WHXI4>?@!"4#$ABGCG1G2M6YZEF*EFG 8V"[YZVDO1xz4E;<%"[\TUO1A$]^_(S"123!"\V"[YZ`a(FN2 4O1xz \n52483DGHIO1HGBJKL6M>?@ABCD4S45EB1B2222lllq2011+−+()>OFG&!F@ABCDcosθ=(1)12ll204S45890)NBθ1——O1HO1GEOHH("#EB1B2!4S45El2——O1HEPQB1B2%IA1A2.$678JK<&l0——O1GEPQLMNOPJK*$I1F1I2F2BC@Ll1——'(*+,H1G1H2G2R-PQMNOPJxQPJEB1B2%Iq1——'(*+,H1G1H2G2STPQA1A2R67KUVW"46M4Sx 5a5b4Sxθθθ=−(2)321 5aNBθ3——WXlO1H=xXEHQB1!B2θ2——WXlO1G=xXEHQ"z#$%&'()*B1B2+W26MAEDCYEZ[X,x-.'5b?\CB1'B2B1.CTA=+()()llcos0()θθ−+llsin(3)233233CTE=+()()llcosθθ−l0()−+llsin2334233(4)2.2[10]Grübler-KutzbachgMdng=−−++(1)fv∑i3i=1 I1F1I2F2!"#$%&%'()*+,-./012345"#678%9':;<=%>?@'A BCDEFE'DEFA'A1A2B1B2GDEF 54Sx H'EFE'D:;=%>?/ 012((IJ[11]EKB'EFA'A1A2B1B2,4SLM)*B1B23O"z#$%&hh412A1A2B1B2BRPRRF(RNO8%9'PNO$5β06%9)N'PEFA'A1A2B1B2QR1S⎧22l5T1=%9GDHA:U'⎪⎪hll16=−−6−(1cos)β⎨2(5)Vλ=0d=−6λ⎪222⎪llh−+cosβlhl−=0n=8g=8 ⎩552625g7l58*A1A2!B1B29:∑fi=11v=0i=1l68*A1B1!A2B29: M=−−++=6(881)1105;<()*5β=>?'h@hAB512!"#$I1F1I2F2%&'()*'C5a 4+()*D'14SA1A2B1B2,-x EF?'=2.34S@8*B1B2&lOA′.5:β'O4A'./0&12yGH=>'!1I.$"JKR(,)zβA'A1A2B1B234S45A1A2B1B26789:,4Sx θl.);<=A1A2B1B24OA′\n20122DDS 53zy64SA1A2B1B2CCTOA=−′+lAO′(sinθθ044cos)(8)A1A2A'C!CTA′=+((ll)cosθθql(−+)sinl)(9)2335233"#q!$ % &'(%)5*+"(8),"(9)⎧l225⎪xl=−−(1cos)sinβθ(++)cosllθO64233⎪2⎪⎨yq=O564Sx!"#$%⎪2⎪2l5zl=−−−(1cos)cosβθ(−+)sinllθ!"#$%&'()⎪⎩O642233*+),*-.B1B2(10)l/βO0%A'0y12345OA′-./B1,B2ClOA′'%z6(789Rl(,)OA′β0![12]:;/3<78Rl(,)′β=;CMCOA⎧⎪BR=−(,,,)θβθγBO+14yzyy41>(6)⎨CMC(11)⎪BR=−(,,,)θβθγBO+⎩24yzyy42R(,)(,)(,)(,)lRROA′β=yzy−θβθ44R(6)M"B1B1MR(−θ,,)βθyzy44MB2B2M2.4A1,A2C0 OM!OuvwulDOvlB1B2⎧⎛⎞TCl5wu!v"#$%7&'⎪A12=+⎜⎟(ll335)cosθθql−−+(2)sin33l⎪⎝2⎠()*+M,C⎨T⎪C⎛⎞l5A=+⎜⎟(ll)cosθθq+−+(ll)sin⎪22335233⎩⎝⎠2(12)A1A2B1B2F1F2 C⎧CCdCCFB=−+()AA⎪1111⎪l6⎨(13)⎪CCFB=−+d()CAAC2222⎪l7⎩6CTdA1F1A2F2-O*+O=()xyz OOOI C[13]./*+012yzyyT(0)xzIII1I2 CR(,,,)−θβθγ3' ./413'yzyy44Ryzy(,,−+θ44βγθ)=⎧⎛⎞TCll55⎪I=+⎜⎟xzsinθθ−cos⎛⎞cccss+−csccssc−10II0θβχθχ44θβ444θβχθχ⎪⎝22⎠⎜⎟⎨(14)⎜⎟sccss(7)Tβχββχ⎪C⎛⎞ll55⎜⎟scccs−−ssscscc+⎪I20=−⎜⎟xzIIsinθθcos0⎝⎠θβχ44444θχθβθβχθχ⎩⎝⎠2256c∂==cos,∂∂θβχ,,4θ0ylI1I2s∂==sin,∂∂θβχ,,4llIF11==IF227l+3q(l7!"#$%&γ'I1F1I2F2())*+,χγθ=+4-.\n54483⎧fqqqxyz1135(,,,,,,,,)0OOO4θβθ0=⎧⎪Fqqqxyz11(,,,,,,,,)035OOOθ4βθ0=⎨(15)⎨(21)⎩fqqqxyz2135(,,,,,,,,)0OOO4θβθ0=⎪⎩Fqqqxyz2135(,,,,,,,,)0OOO4θβθ0=q3#$%&'I1F1I2F2/0q=−++lccβlss()γθ+y(22)D C!"44()4()4βγθ++44θγθ4OCMCDR=yzyy(,,,)−+θ44βθγDO=Fqqxyz312(,,,,,,,)0OOO4θβγ=(23)⎛⎞−+l()cccssx+F1F2F3 ⎜⎟4θβγθ44()++θγθ4()4Oqqqqq⎜⎟−+lsc()y(16)123454()βγθ+4O⎜⎟xyzθβγ⎜⎟−−lscc()csz+OOO4⎝⎠4(θβγθ44++)(θγθ44)OxyzθβγOOO4lDO4qqqqqM12345DDM E'C 4ADAMSCTE′=+((ll)cosθθ−lql(−+)sinl)23344233(17)DDS q4l0=7096mml1=8980mm!"#$E'D%&E''Dl2=3000mml3=600mml4=8000mmCy()ll==5000mmθ=120°d=3000mm562q=−+lsc()y(18)44βγθ()+4Ol7=9000mmxI=−5400mmzI=−3000mm*+,-lED′=l62+q(E'D./0ADAMS!"#$%&&1A1B1'A2B2(2)3'()*+,-./0&'+1O2fqqxyz312(,,,,,,,)0OOO4θβγ=(19)/034567,89:q1=50tq2E'D45q2=−100tq3=0q4=0q5=10t67(10)8(15)8(18)8(19)39:;t=10s DDS<=>?@AB@& CDE89qqqqqxyz12345OOO θβγθθ 4001011q1q2q3q4q5xOyOzOt=10s!89"#θ4βγxO $%yzβγ(θOO4⎧x=3600.298369906609O!")qqq⎪123y=99.999999999998323⎪Oqq45⎪⎪z=−4018.4352936385885O⎨(24)⎪θ=1.560324079399552534⎪β=0.7246753677571369⎪#$(10)(15)(18)(19)%&'()⎪⎩γ=7.202608733541031*+&t=10s'()*$⎧l2 +,-*.(10)/(15)/(18)/(19)"#⎪xl=−−25(1cos)cosβθθ−O644⎪2⎧2⎪l2sinsinβθ2l5⎪54βθ−+(ll)sinθ⎪xlO−−−64(1cos)sinβ(−+θθ)cosll23=3222333⎪2⎪16ll8(1cos)−−β⎪65⎪−×0.068710−9⎨yqO=5⎪⎪−9⎪2⎨yq−=−0.001710×lO5⎪zl=−−25(1cos)sinβθ+θ⎪O6442⎪2⎪2l5⎪l2sincosβθ⎪zlO+−−64(1cos)cosβθ(++)sinll23=θ3⎪54βθ−+()llcosθ22333⎪⎪16ll228(1cos)−−β−9⎩65⎪⎩−×0.001910(20)(25)\n20122DDS 55⎧⎪fqqqxyz(,,,,,,,,θ)βθ0.003610=−×−9t=10s1011 1135OOO40⎨−9⎪⎩fqqqxyz(,,,,,,,,θβθ)0.007310=×2135OOO40⎧x=0.3582156816059718O(26)⎪y=10.0⎪Oy−−lsc()q=×0.031710−9(27)⎪z=111.50173749562838O8()4βγθ+4⎪O⎨(29)⎪θ=0.36271235620813644−9fqqxyz312(,,,OOO,,,,)4θβγ0.302910=−×(28)⎪β=0.0746067356913093⎪⎪⎩γ=0.7324798413334182t=10s !"(20)#(23)⎧l2⎪xl−−−25(1cos)cosβ+(θθ)sinll+θθ+O6442333⎪2⎪2⎪l54sinsinβθ×−6β=0.922310⎪16ll228(1cos)−−β65⎪⎪⎨yq−=0O5⎪28⎪zl−−−2l5(1cos)sinβθ+(θ)cosll+θθ−⎪O64423332⎪2⎪l54sincosβθ−9⎪β=5.653410×22⎪⎩16ll658(1cos)−−β(30)⎧⎪F(,qqqxyz,,,,,,,θ)βθ3.53710=×−91135OOO40⎨⎪⎩Fqqqxyz(,,,,,,,,θβθ)7.515110=×−92135OOO40(31)q+(lccβlss−γθ+−=)y44βγθ()4()++44θγθ44B−690.102510×(32)−6Fqqxyz(,,,,,,,)1.269510θβγ=×(33)312OOO4 5(1)!Grübler-Kutzbach"#$%&'()*+,-*+./5,0-1234.5/4,67'()10 829:;<=(2)7)>?@A/BCDEF4SGHIJ82KLMN$OP,QRSTUVWXYZIJ82KL,IJ[-3\E]^_yzy`abcdef=$'()82(3)yzyy`abcdgh]^,iQjklbmn/4SGHIJ[-3\E]^b,efiQ o/pP(4)qrstFDDS u11 v)MN$82w,/xT \n5648382wyz{|$}~:[7]().!"*+",[D].-_R-DDS uv.-./012008.)82wWANGHuaibin.Thekinematic&inversedynamicanalysisofforgingmanipulator[D].ShanghaiShanghaiJiaoTongUniversity2008.[8]234.56#789:;<[1]. [J].=[D].>?@A12009.1998(6)3-5.WANGFengxi.DevelopmentofforginghydraulicpressCHENBoweng.Mechanismanalysisonaforgingandforgingmanipulator[J].HeavyMachinery1998(6)manipulatoranditsvirtualprototyping[D].Beijing3-5.TsinghuaUniversity2009.[2]YANChangyaGAOFengZHANGYong.Kinematic[9]DANGO&DIENENTHALM.Schmiedemanipulatormodelingofaserial-parallelforgingmanipulatorwithGermanyDE20108277[P].2001-09-06.applicationtoheavy-dutymanipulations[J].Mechanics[10]BCDEFG.HIJ#[M].>?BasedDesignofStructuresandMachines201038HKLMNO2006.105-129.HUANGZhenZHAOYongshengZHAOTieshi.[3]RENYunpengLUChongshaoHANQingkaietal.Advancedspatialmechanism[M].BeijingHigherSimulatedcomparisononkinematicspropertiesoftwoEducationPress2006.typicalmechanismsofforgingmanipulator[C]//[11]FG.IJPQRSTUVW#*XYInternationalConferenceonMetronicsandInformationZ[&'[D].\]^_`12000.TechnologyDecember5-62007GifuJAPAN.ZHAOTieshi.SometheoreticalissuesonanalysisandBellinghamWAUSASPIE-INT2007N7942-N7942.synthesisforspatialimperfect-dofparallelrobot[D].[4]XUYundouZHAOYongsheng.ComparativeanalysisoftwoQinhuangdaoYanshanUniversity2000.typicalmechanismsofforgingmanipulator[C]//International[12]abcdefgh.VW[M].>?ConferenceonElectricalandControlEngineeringJuneiMNO1993.26-282010WuhanChina.PiscatawayNJUSAXIONGYoulunDINGHanLIUEncang.Robotics[M].IEEEComputerSociety20102314-2317.BeijingChinaMachinePress1993.[5] .[13]BONEVIARYUJ.Anewapproachtoorientation[J].201046(11)69-75.workspaceanalysisof6-DOFparallelmanipulators[J].ZHAOYongLINZhongqinWANGHao.ManipulationMechanismandMachineTheory2001,3615-28.performanceanalysisofheavymanipulators[J].JournalofMechanicalEngineering201046(11)69-75.1985  [6].!"#$%&'[J].E-mailxuyundou@tom.com201046(11)14-20.!1980"# TONGXingGAOFengZHANGYong.Researchon$%&'() E-mailjtyao@ysu.edu.cndecouplingperformanceofmajor-motionmechanismfor*+(,-./)1962012# forgingmanipulators[J].JournalofMechanical Engineering201046(11)14-20.E-mailyszhao@ysu.edu.cn