燕山大学学报2017，Vol.41Issue(6)：482-495,14.DOI:10.3969/j.issn.1007-791X.2017.06.002
基于运算模块的锻造操作机主运动机构 运动学与动力学分析
Analysis of kinematics and dynamics of major-motion mechanism of forging manipulator based on algorithm module
摘要
Abstract
The algorithm module and the algorithm group are proposed. Meanwhile the mathematical model of kinematics and dynamics of the algorithm module and the algorithm graphs of the major-motion mechanisms are established. And then the functions of the algorithm graphs are obtained.The forward and inverse position graphs of a novel major-motion mechanism are obtained based on above method of analyzing the kinematics and inverse dynamics. These graphs indicate the novel manipulator can realize approximate linear lifting, which simplify the control system of the forging manipulator. The actuator force graphs during lifting, horizontal-translation, pitching motion are obtained. Meanwhile the virtual model based on ADAMS is built. The correction of the new method is verified by the simulation and calculation.关键词
锻造操作机/主运动机构/运算图谱/运动学分析/逆动力学分析Key words
forging manipulator/major-motion mechanism/algorithm graph/kinematics analysis/inverse dynamics analysis分类
信息技术与安全科学引用本文复制引用
冯泽民,赵琛,丁华锋..基于运算模块的锻造操作机主运动机构 运动学与动力学分析[J].燕山大学学报,2017,41(6):482-495,14.基金项目
国家自然科学基金资助项目(51422509, 51275437) （51422509, 51275437）
