伺服驱动的二自由度九杆机构研究

发布时间：2018-02-13 17:36

本文关键词： 二自由度九杆机构伺服驱动运动特性杆件尺寸伺服压力机　出处：《华中科技大学》2012年硕士论文　论文类型：学位论文

【摘要】：近年来，随着伺服电机和伺服控制技术的发展，伺服压力机也得到迅猛发展。其以传统压力机无法比拟的优势，即高精度、高柔性、高效率及低噪音、低能耗等特点，已经被广大的用户所青睐，且各种商品化的伺服压力机也相继问世。然而，纵观国内外现有的伺服压力机研发概况，大多集中在中低速伺服压力机的研发阶段，而高速伺服压力机的研发目前还几乎处于空白阶段，特别是高速伺服压力机传动机构的研究目前还甚少。因此，本文提出一种可用于高速伺服压力机的传动机构，即伺服驱动的二自由度九杆机构，并对该机构进行系统研究，为今后开发高速伺服压力机提供传动机构选型和理论参考。具体研究内容如下：首先，建立伺服驱动的二自由度九杆机构数学模型，并对该模型进行运动学分析，即通过建立该机构的三个闭合回路矢量方程，求解出各杆件的角度、角速度及角加速度方程，滑块的位移、速度及加速度方程。进一步研究该机构的运动特性及杆件结构尺寸对滑块运动曲线的影响提供数学参考。其次，系统的研究了该二自由度九杆机构的运动特性。即研究了两曲柄在同步驱动条件下，曲柄1、2初始相位差对滑块运动曲线的影响及两曲柄在异步驱动条件下，，曲柄2加载速度脉冲对滑块运动曲线的影响。紧接着，研究了各杆件结构尺寸的变化对滑块运动曲线的影响。即将二自由度九杆机构分解成平面五杆机构与三角肘杆机构，分别研究了平面五杆机构和三角肘杆机构中，各杆件结构尺寸的变化，对滑块行程、速度及两曲柄扭矩分布和载荷放大比的影响。为今后具体样机机构的开发提供理论依据和参考。最后，总结全文，并对今后的进一步深入研究提出展望。
[Abstract]:In recent years , with the development of servo motor and servo control technology , servo press has developed rapidly . It has the advantages of high precision , high flexibility , high efficiency , low noise , low energy consumption and so on . However , the research and development of the existing servo press at home and abroad is mostly focused on the development stage of medium and low speed servo press , and the research and development of high - speed servo press is still in the blank phase , especially the research of high - speed servo press transmission mechanism . Therefore , this paper proposes a kind of transmission mechanism which can be used in high - speed servo press , that is , servo - driven two - degree - of - freedom nine - bar mechanism , and carries out systematic research on the mechanism , so as to provide the selection and theory reference for transmission mechanism of high - speed servo press in the future . Firstly , the mathematical model of the two - degree - of - freedom nine - bar mechanism driven by servo is established , and the kinematics analysis of the model is carried out , that is , through the establishment of three closed loop vector equations of the mechanism , the angle , angular velocity and angular acceleration equation of each rod are solved , the displacement , velocity and acceleration equation of the slide block are solved . Secondly , the motion characteristics of the two - degree - of - freedom nine - bar mechanism are studied systematically . The influence of the initial phase difference of the crank 1 and 2 on the motion curve of the sliding block and the influence of the crank 2 loading speed pulse on the motion curve of the slider are studied under the condition of synchronous driving . In this paper , the influence of the change of the dimension of each rod structure on the moving curve of the sliding block is studied . The two - degree - of - freedom nine - bar mechanism is decomposed into five - bar mechanism and triangle - toggle lever mechanism , and the influence of the structure size of each rod in the five - bar mechanism and the triangle - toggle lever mechanism is studied , and the influence of the stroke , speed and the torque distribution and the load - amplification ratio of the two cranks are studied . Finally , the text is summarized and the prospect of further study in the future is put forward .

【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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