混合驱动九杆压力机的运动学模型与分析.doc

摘要 随着科学技术的发展，机械行业正在向着高速，高精度，柔性自动化方向发展。机械压力机作为锻冶机械的一个类别，在工业生产中有着极其广泛的应用。当压力机的转速不同，工作环境不同以及加工的工件形状和力学特性不同时，它的受力和运动规律就不相同，所以，锻压机械的运动学和力学性能研究一直是设计过程中的一个难点，也是设计人员必须解决的一个重点问题。混合驱动多连杆机械式压力机的运动学和力学特性比传统的机械式和液压式压力机的性能要复杂的多，因此，对其进行运动学和动态静力学分析研究对于设计的成功性来说就显得尤为重要。 本文将混合驱动九杆机械式压力机根据其工作原理转化成二自由度九杆机构，建立坐标系后利用解析法求出该机构的运动学方程，并运用半角正切公式，解出滑块在任意时刻的位移，速度，加速度表达式。选取合适的杆长建立ADAMS模型，并验证模型的正确性。然后与传统的曲柄压力机的位移、速度、加速度曲线进行对比分析，得到多连杆压力机的优点，同时通过调整直流电机和伺服电机的输入特性，得到混合驱动多连杆压力机的柔性化特性。最后，建立系统的静力学方程，并分析增力比特征。 关键词：混合驱动；九连杆压力机；ADAMS；运动学 ABSTRACT With the development of science and technology, mechanical industry is towards to high speed, high precision, flexible automation direction. As a category of smith machinery, mechanical press has extremely extensive application in industrial production. The force and the motion of the slider is different when the press is in different speed, different working environment, as well as the processing of the workpiece’s shape and mechanical properties. Therefore, the kinematics and mechanics research performance of the forging machinery has always been a difficulty in the process of design, and also as a key problem for designers . The kinematics and mechanics characteristics of the multi-link press with hybrid-driven mechanism is much more complex compared with the traditional mechanical press or the hydraulic press, therefore, it is important for the designer to carry on the kinematics and dynamic statics analysis. In this study, we transformed the press into Two degree of freedom of nine-bar mechanism according to the working principle of the press, and established a coordinate system using analytic method, worked out the expression of displacement, variety and acceleration of the slider with the half Angle formula. Then, ADAMS model was established by choosing suitable length of the bar, and validate the correctness of the model. Then with the traditional crank press’ displacement, velocity and acceleration curves were analyzed, we got the advantages of nine-ba