具有符号式正解的降耦冲压机构动力学建模与分析

提出并设计一种具有符号式正向运动学、含3个子运动链(SKC)的单输入两滑块输出平面冲压机构.运用拓扑结构降耦方法,优化设计一种零耦合度单输入两滑块输出平面冲压机构,对其进行拓扑结构分析,得到机构耦合度为零(κ=0),从而得到正向位置、速度及加速度的符号解;采用基于Newton-Euler原理的序单开链法,建立了该机构的...

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

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.