锻压技术

薄壁高筋筒件的径向包络成形装备运动学分析

英文标题：Kinematics analysis on radial envelope forming equipment for thin-walled high-rib cylindrical parts

作者：金奇伟郑方焱

分类号：TH112

出版年,卷(期):页码：2024,49(1):165-172

摘要：

对径向包络成形装备的位置反解、奇异位形和工作空间等运动学进行分析。通过闭环矢量法建立六连杆三自由度并联机构的运动学模型，利用雅可比矩阵求解奇异位形，通过位置约束条件求解工作空间。揭示六连杆三自由度并联机构的运动学特性；建立驱动滑块位置和包络辊位姿之间的映射关系，得到驱动滑块的位移、速度和加速度表达式；得到并联机构的两种奇异位形；分析机构工作空间的影响因素和限制条件，求解了并联机构的工作空间。通过径向包络成形装备的运动学分析，表明了当前构型和运动参数的可行性，在运动平台转角γ最小时，并联机构可获得最大的移动工作空间。上述研究为径向包络成形装备运动控制提供了理论依据。

The kinematic analysis on the position inverse solution, singular configuration and work space of radial envelope forming equipment was carried out, and the kinematics model of six-link three-degree-of-freedom parallel mechanism was established by the closed-loop vector method. Then, the singular configuration was solved by Jacobian matrix, and the work space was solved by position constraint conditions. Furthermore, the kinematic characteristics of the six-link three-degree-of-freedom parallel mechanism were revealed. The mapping relationship between the position of driving slider and the posture of envelope roller was established to obtain the expressions of displacement, velocity and acceleration for the driving slider, and two types of singular configuration for parallel mechanism. Finally, the influencing factors and constraint conditions of the work space for the mechanism were analyzed, and the work space of the parallel mechanism was solved. The kinematics analysis of the radial envelope forming equipment shows the feasibility of the current configuration and motion parameters. When the swing angle γ of moving platform is the smallest, the parallel mechanism obtains the maximum moving work space. The above research provides a theoretical basis for the motion control of radial envelope forming equipment.

基金项目：

国家自然科学基金资助项目（52175361）

作者简介：金奇伟（1996-），男，硕士研究生 E-mail：1455026314@qq.com 通信作者：郑方焱（1988-），男，博士，副教授 E-mail：13013@whut.edu.cn

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