| 锻造操作机夹钳平行升降机构运动学特性分析 |
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| 引用本文： | 孔祥东,翟富刚,张杨,庞逢祥,陈赞. 锻造操作机夹钳平行升降机构运动学特性分析[J]. 东北重型机械学院学报, 2011, 0(3): 198-202 |
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| 作者姓名： | 孔祥东 翟富刚 张杨 庞逢祥 陈赞 |
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| 作者单位： | [1]燕山大学机械工程学院 ,河北秦皇岛066004 [2]燕山大学里仁学院,河北秦皇岛066004 |
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| 基金项目： | 河北省自然科学基金资助项目（E2010001224） |
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| 摘 要： | 对锻造操作机机械系统进行运动学特性分析,研究执行机构的运动规律,是实现操作机夹钳末端位置精确控制的前提。本文分析了某典型锻造操作机夹钳平行升降机构的机构特征及运动学特性,得到了夹钳末端随升降缸运动的变化规律以及夹钳平行升降动作的运动学逆解方程。结合锻造操作机具体结构参数对夹钳平行升降逆解近似公式的精度进行了分析,提出了采用高次方程近似公式的方法,并给出了二次方程近似公式,研究结果对于提高操作机夹钳末端的位置控制精度具有一定的理论价值。
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| 关 键 词： | 锻造操作机 夹钳升降机构 运动学特性 |
Research on kinematics characteristics of parallel lifting mechanism of forging manipulator tongs |
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| KONG Xiang-dong,ZHAI Fu-gang,ZHANG Yang,PANG Feng-xiang,CHEN Zan. Research on kinematics characteristics of parallel lifting mechanism of forging manipulator tongs[J]. , 2011, 0(3): 198-202 |
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| Authors: | KONG Xiang-dong ZHAI Fu-gang ZHANG Yang PANG Feng-xiang CHEN Zan |
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| Affiliation: | 1.College of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China;2.Liren College,YanshanUniversity,Qinhuangdao,Hebei 066004,China) |
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| Abstract: | To analyze the kinematics characteristics of forging manipulator mechanical system and study the movement rules of each actuator,it is premise to achieve precise control of its position.The mechanism characteristics and kinematics characteristics of tongs lifting mechanisms of forging manipulator are studied.The rules that the position and orientation of tongs following with the actuator are analyzed.The inverse kinematics of tongs lifting mechanism are obtained.With the specific structural parameters of forging manipulator,the accuracy of the extreme approximate formula is analyzed,and the high-order equation approximate formula method is proposed and the quadratic approximation formula is given.The results have certain significance in control piston of for-ging manipulator. |
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| Keywords: | forging manipulator tongs lifting mechanism kinematics characteristics |
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