摘要
采用回转体轴线的单位向量表示工件位姿、螺旋运动描述变姿态翻转运动方法,基于罗德里格斯公式得到了每一步翻转齐次变换矩阵与运动旋量之间的关系;根据翻转工艺要求,提出了回转体工件180°翻转的Ⅰ、Ⅱ、Ⅲ类翻转运动模式;针对Ⅰ、Ⅲ类运动模式求解翻转运动旋量、确定运动副,对所得独立运动副进行排列运算、综合得到单模式90°/180°翻转机基本构型13种;引入轴z向移动棱柱副,二次综合得到了单模式90°/180°翻转机整体构型共17种。为解决单模式构型的局限性,将Ⅰ模式基本构型中的xR1 xR2、xR1+xR2机构分别与Ⅲ模式基本构型中xR1(4)yR2(3)机构进行融合再建,得到5种多模式90°/180°翻转机基本构型,进一步,引入轴z向移动棱柱副,综合得到了多模式90°/180°翻转机的整体构型共68种,形成比较全面、完整的大型翻转机构型库,其中xR1 zP1 xR2构型已经成功应用于实际生产。为具有自主知识产权的大型翻转机工程设计开发提供理论指导。
The unit vector of the axis of the rotary was used to indicate the position of the workpiece,while the screw motion was used to describe the flip motion.The relationship between the the homogeneous transformation matrix and twist of flipped motion was obtained based on Rodrigues Formula.According to the flip process,classⅠ,ⅡandⅢflipping motion modes of 180°reversal of rotary workpiece were put forward.The twist and kinematic pair of flip motion for the classⅠandⅢfliping motion modes were solved.The kinematic pairs were arranged and combined,so that 13 kinds of basic configurations of single-mode 90°/180°upender are synthesized.By introducing the axial z prismatic pair,17 kinds of overall configurations of single-mode 90°/180°upenders were obtained by secondary synthesis.In order to solve the limitation of single-mode configuration,the xR1 xR2 mechanism and the xR1+xR2 mechanism in the classⅠbasic configurations were fused with the xR1(4)yR2(3)mechanism in the classⅢbasic configurations respectively,so that 5 kinds of basic configurations of multi-mode 90°/180°upenders were obtained.Furthermore,by introducing the axial z prismatic pair,68 kinds of overall configurations of multi-mode 90°/180°upenders were synthesized.A relatively comprehensive and complete type library of large-scale upender mechanism was formed,among them,the xR1 zP1 xR2 mechanism had been successfully appling in practical production.It provides theoretical guidance for the engineering design and development of large-scale upender with independent intellectual property rights.
作者
邱雪松
杨召
史树阳
周玉林
QIU Xuesong;YANG Zhao;SHI Shuyang;ZHOU Yulin(YANSHAN University School of Mechanical Engineering,Qinhuangdao Hebei 066004,China)
出处
《机械设计与研究》
CSCD
北大核心
2020年第2期33-40,共8页
Machine Design And Research
基金
河北省应用基础研究计划重点基础研究(17961811D)
河北省技术创新引导计划(18241905D)资助项目。
