[1]聂亚彪,沈惠平,杨廷力.平面高速冲压机构的摆动力完全平衡设计与计算[J].常州大学学报(自然科学版),2022,34(02):53-64.[doi:10.3969/j.issn.2095-0411.2022.02.007]
　NIE Yabiao,SHEN Huiping,YANG Tingli.Design and Calculation for Complete Shaking Force Balancing of Planar Stamping Mechanism[J].Journal of Changzhou University(Natural Science Edition),2022,34(02):53-64.[doi:10.3969/j.issn.2095-0411.2022.02.007]
点击复制

平面高速冲压机构的摆动力完全平衡设计与计算()
分享到：

常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
第34卷
期数:
2022年02期
页码:
53-64
栏目:
机械制造及其自动化
出版日期:
2022-03-28

文章信息/Info

Title:
Design and Calculation for Complete Shaking Force Balancing of Planar Stamping Mechanism
文章编号:
2095-0411(2022)02-0053-12
作者:
聂亚彪; 沈惠平; 杨廷力
(常州大学现代机构学研究中心,江苏常州213164)
Author(s):
NIE Yabiao;  SHEN Huiping;  YANG Tingli
(Research Center for Advanced Mechanism Theory, Changzhou University, Changzhou 213164, China)
关键词:
冲压机构;  质量矩替代法;  摆动力完全平衡
Keywords:
stamping mechanism;  mass-moment substitution method;  complete balance of shaking force
分类号:
TH 113
DOI:
10.3969/j.issn.2095-0411.2022.02.007
文献标志码:
A
摘要:
首先, 对一单自由度平面八杆冲压机构进行降耦设计, 使得该机构具有解析式位置正解; 其次, 运用团队提出的质量矩替代法, 对该冲压机构进行了摆动力完全平衡设计与分析, 得到机构摆动力完全平衡时各树枝构件的摆动力完全平衡条件; 最后, 基于该条件对机构平衡前后总质心轨迹、 总惯性力进行了数值计算与仿真验证。 结果表明, 相比于平衡前, 平衡后机构总质心轨迹基本保持恒定、 总惯性力趋近于0, 证明了摆动力完全平衡条件的正确性, 同时, 也为同类机构摆动力完全平衡设计提供了借鉴。
Abstract:
Firstly, the decoupling design of a single degree of freedom planar eight bar stamping mechanism is carried out, so that the mechanism has an analytical positive position solution; secondly, using the mass moment substitution method proposed by the author's team, the shaking force complete balance design and analysis of the stamping mechanism are carried out, and the conditions of the complete balance of the shaking force of each branch member are obtained when the shaking force of the mechanism is fully balanced; finally, based on the proposed method, the shaking force of each branch member is fully balanced. The results show that, compared with before balancing, the total center of mass trajectory of the mechanism is basically constant, and the total inertial force is close to zero, which proves the correctness of the condition of complete balance of pendulum force, and also provides reference for the design of pendulum force complete balance of similar mechanisms.

参考文献/References:

[1]DAN Z, BIN W. Dynamic balancing of mechanisms and synthesizing of parallel robots[M]. Cham: Springer International Publishing, 2016.
[2]CHAUDHARY H, SAHA S K. Dynamics of closed-loop systems[M]//Dynamics and Balancing of Multibody Systems. Berlin: Springer Berlin Heidelberg, 2009: 45-86.
[3]张琳. 用线性独立矢量分析连杆机构的平衡[J]. 机械设计与制造, 2005(3): 14-15.
[4]吴垚, 曹巨江, 燕卫亮. 基于线性独立矢量法的曲柄群驱动机构摆动力平衡分析[J]. 制造业自动化, 2015, 37(9): 102-105.
[5]唐锡宽, 金德闻. 机械动力学[M]. 北京: 高等教育出版社, 1985: 275-294.
[6]VAN DER WIJK V, HERDER J L. Dynamic balancing of clavel's delta robot[M]//Computational Kinematics. Berlin: Springer Berlin Heidelberg, 2009: 315-322.
[7]BERKOF R S, LOWEN G G. A new method for completely force balancing simple linkages[J]. Journal of Engineering for Industry, 1969, 91(1): 21-26.
[8]YE Z, SMITH M R. Contribution to the theory of full force balancing of planar linkages[C]. [S.l.: s.n.], 1987: 519-522.
[9]OUYANG P R, LI Q, ZHANG W J. Integrated design of robotic mechanisms for force balancing and trajectory tracking[J]. Mechatronics, 2003, 13(8/9): 887-905.
[10]OUYANG P R, ZHANG W J. Force balancing of robotic mechanisms based on adjustment of kinematic parameters[J]. Journal of Mechanical Design, 2005, 127(3): 433-440.
[11]BRIOT S, ARAKELIAN V, SAUVESTRE N, et al. Shaking forces minimization of high-speed robots via an optimal motion planning[C]. [S.l.]: ROMANSY 18 Robot Design, Dynamics and Control, 2010.
[12]GENG J, ARAKELIAN V. Design of partially balanced planar 5R symmetrical parallel manipulators via an optimal motion planning[C]. [S.l.]: Advances in Mechanism and Machine Science, 2019.
[13]杨延力, 张明. 平面连杆机构摆动力和摆动力矩完全平衡的一般理论[J]. 机械工程学报, 1992, 28(6): 99-102.
[14]杨廷力. 机械系统基本理论[M]. 北京: 机械工业出版社, 1996: 272-279.
[15]吴垚, 曹巨江, 燕卫亮, 等. 曲柄群驱动机构的惯性力平衡分析[J]. 机械强度, 2017, 39(1): 92-99.
[16]BAIGUNCHEKOV Z, IZMAMBETOV M, BAIGUNCHEKOV N. Structural and kinematic synthesis of a planar parallel mechanism with two rectilinear moving end-effectors[C]. Tianjin: [s.n.], 2014: 7-8.
[17]沈惠平, 朱小蓉, 尹洪波, 等. 并联机构的结构降耦原理及其设计方法[J]. 机械工程学报, 2016, 52(23): 102-113.
[18]杨廷力, 刘安心, 罗玉峰. 机器人机构拓扑结构设计[M]. 北京: 科学出版社, 2012: 52-121.

备注/Memo

备注/Memo:
收稿日期: 2021-12-29。
基金项目: 国家自然科学基金资助项目(51975062, 51375062)。
作者简介: 聂亚彪( 1995—), 男, 河南周口人, 硕士生。通信联系人: 沈惠平( 1965—), E-mail: shp65@126.com
更新日期/Last Update: 1900-01-01