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具有符號式正解的降耦沖壓機構(gòu)動力學(xué)建模與分析
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國家自然科學(xué)基金項目(51975062,、51375062)


Dynamic Modeling and Analysis of Decoupling Punching Mechanism with Symbolic Positive Position
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    摘要:

    提出并設(shè)計一種具有符號式正向運動學(xué)、含3個子運動鏈(SKC)的單輸入兩滑塊輸出平面沖壓機構(gòu),。運用拓?fù)浣Y(jié)構(gòu)降耦方法,,優(yōu)化設(shè)計一種零耦合度單輸入兩滑塊輸出平面沖壓機構(gòu),對其進行拓?fù)浣Y(jié)構(gòu)分析,,得到機構(gòu)耦合度為零(κ=0),,從而得到正向位置,、速度及加速度的符號解;采用基于Newton-Euler原理的序單開鏈法,,建立了該機構(gòu)的逆向動力學(xué)模型,,并求解出機構(gòu)構(gòu)件的動態(tài)支反力和驅(qū)動力矩;對比分析了該方法和Lagrange法在動力學(xué)建模精度方面的誤差,,結(jié)果表明,,基于Newton-Euler原理的序單開鏈法具有較高的建模精度。本研究為基于Newton-Euler原理的序單開鏈法在含多個SKC機構(gòu)上的推廣應(yīng)用,,以及該平面沖壓機構(gòu)的機械結(jié)構(gòu)強度設(shè)計與動力學(xué)性能優(yōu)化提供了理論依據(jù),。

    Abstract:

    The punching mechanism was an efficient automatic forming equipment. There were many researches on the structural parameter’s optimization design, motion analysis and characteristics of the punching mechanism. However, there was relatively little dynamic analysis of the new punching mechanism. In order to expand the application of the punching mechanism, an optimized planar punching mechanism with one-DOF and two-slider output eight-bar was proposed. The mechanism had symbolic kinematics and contained three sub-kinematic chains (SKC), of which the inverse dynamic analysis was performed. Firstly, using the principle of structure coupling-reducing, a two-slider plane punching mechanism with zero coupling degree and single degree of freedom was optimized and designed. The topological structure was decomposed and the coupling degree of mechanism was declined to be zero (κ=0). Therefore, it was easier to obtain the symbolic forward position, velocity and acceleration. Then, the basic principle of the ordered single-open-chains (SOC) method based on the Newton-Euler principle, which was proposed by the author’s team, was introduced, the force analysis of each component was carried out. And the inverse dynamic modeling of the mechanism was established to obtain the dynamic supporting force and driving torque of the mechanism. Finally, the inverse dynamics modeling of punching mechanism was established by using the Lagrange equation, and the errors between the N-E’s SOC method and the Lagrange method were compared, which indicated that the former had high modeling accuracy. The research result provided a theoretical basis for the popularization and application of the SOC-method based on Newton-Euler in mechanisms that contained some SKCs and the strength analysis and dynamic performance optimization of the punching mechanism.

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沈惠平,黃凱偉,鄧嘉鳴,尤晶晶,楊廷力.具有符號式正解的降耦沖壓機構(gòu)動力學(xué)建模與分析[J].農(nóng)業(yè)機械學(xué)報,2021,52(3):401-409. SHEN Huiping, HUANG Kaiwei, DENG Jiaming, YOU Jingjing, YANG Tingli. Dynamic Modeling and Analysis of Decoupling Punching Mechanism with Symbolic Positive Position[J]. Transactions of the Chinese Society for Agricultural Machinery,2021,52(3):401-409.

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  • 收稿日期:2020-05-19
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  • 在線發(fā)布日期: 2021-03-10
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