凸轮式自动换刀机械手的刚柔耦合动力学研究

发布时间：2018-02-28 08:16

本文关键词： 自动换刀机械手弧面凸轮非等价加工刚柔耦合动力学分析　出处：《陕西科技大学》2017年硕士论文　论文类型：学位论文

【摘要】：本课题以双弧面凸轮式自动换刀机械手为研究对象,基于Creo软件完成了该换刀机械手的设计,并建立了其整机的三维数字化样机。对弧面凸轮的非等价加工方法进行了研究,计算并推导了五轴非等价加工的刀位控制方程。在双弧面凸轮换刀机构多自由度动力学模型的指导下,建立了该机构的多刚体动力学数字样机以及刚柔耦合动力学数字样机,并进行了相应的动态仿真及分析。本文主要从以下几个方面展开研究:首先,基于凸轮及自动换刀机械手的基本理论知识,设计满足换刀需求的运动循环图,并以此循环图为基础,设计双弧面凸轮自动换刀机械手及此装置中所用到的弧面凸轮。基于Creo软件建立了该换刀机械手整机的数字样机,为随后的动力学研究奠定了基础。其次,以基于中点偏置的刀位补偿法作为基础理论依据,分析研究了弧面凸轮的非等价加工方法,推导并计算了非等价刀具在加工过程中的补偿量和补偿方向;研究了五轴机床中弧面凸轮的等价加工和非等价加工方法,利用坐标变换法计算并推导了五轴等价加工的刀位控制方程;按照刀位补偿法推导出五轴非等价加工的刀位控制方程,获得了对实际加工有指导意义的非等价加工刀位控制方程。最后,基于实际工作情况,创建了双弧面凸轮式自动换刀机构的多自由度刚柔耦合动力学模型,并推导出其动力学方程。通过ADAMS软件,创建了该机构的多刚体动力学数字样机,并对其动力学性能进行了分析;依据动力学模型,通过ANSYS软件对其关键构件进行了柔性化处理,并逐个导入到多刚体动力学数字样机中,完成了换刀机构的刚柔耦合动力学数字样机的建立,之后分析了该机构的动力学性能,此分析过程尽可能模拟了换刀机构在实际工作过程中的情况,其结果对换刀机构的设计、加工和生产都具有指导性作用。
[Abstract]:In this paper, the double globoidal cam automatic tool changing manipulator is taken as the research object. Based on the Creo software, the design of the tool changing manipulator is completed, and the 3D digital prototype of the whole machine is established. The non-equivalent machining method of the globoidal cam is studied. The control equation of tool position for five-axis non-equivalent machining is calculated and deduced. Under the guidance of the multi-degree-of-freedom dynamic model of double-globoidal cam tool changer, the multi-rigid-body dynamic digital prototype and the rigid-flexible coupling dynamic digital prototype of the mechanism are established. Based on the basic theoretical knowledge of cam and automatic tool changing manipulator, the motion cycle diagram is designed to meet the need of tool changing. Based on the cycle diagram, the double globoidal cam automatic tool changing manipulator and the globoidal cam used in this device are designed. The digital prototype of the tool changing manipulator is established based on Creo software. It lays a foundation for the subsequent dynamics research. Secondly, the non-equivalent machining method of globoidal cam is analyzed and studied based on the tool position compensation method based on midpoint bias. The compensation amount and compensation direction of non-equivalent cutting tools in machining process are deduced and calculated, and the equivalent machining and non-equivalent machining methods of globoidal cam in five-axis machine tools are studied. The tool position control equation of five-axis equivalent machining is calculated and deduced by using coordinate transformation method, and the tool position control equation of five-axis non-equivalent machining is derived according to the tool position compensation method. The control equation of non-equivalent machining tool position is obtained for practical machining. Finally, based on the actual working conditions, a multi-degree-of-freedom rigid-flexible coupling dynamic model of double globoidal cam automatic tool changer is established. The dynamic equation is derived. The digital prototype of multi-rigid body dynamics of the mechanism is created by ADAMS software, and its dynamic performance is analyzed. According to the dynamic model, the key components of the mechanism are treated flexibly by ANSYS software. It is introduced into the multi-rigid body dynamic digital prototype one by one, and the rigid-flexible coupling dynamic digital prototype of the tool changing mechanism is established, and then the dynamic performance of the mechanism is analyzed. This analysis process simulates as much as possible the situation of the tool changer in the actual working process, and the results are instructive to the design, processing and production of the tool changer.
【学位授予单位】：陕西科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

【参考文献】