摘要
围绕Delta型3D打印机多能域机、电耦合系统动力学建模展开研究.利用旋量键合图在并联机器人动力学建模上的优势,构建了该打印机机械本体子系统的动力学模型,并结合传统键合图建立了驱动子系统的动力学模型,获得了打印机系统机、电耦合的全局动力学模型,形象、直观地描述了该系统各能域之间能量传递与交换的关系,并且体现了各构件之间运动力的传递关系.最后,通过MATLAB软件进行理论计算以及ADAMS软件进行数值仿真,对比验证了该系统动力学全局模型的合理性,为动力学控制研究奠定了基础,同时也为打印机系统动力学建模提供了新的思路.
Research on dynamic modeling of multi-energy domain and electric coupling system around Delta type 3D printer.Based on the advantage of screw bond graph in building the dynamic model of coupled parallel robot,the printer's mechanical ontology subsystem is constructed.Combining with the dynamic model of driving subsystem established by traditional bond graph,the global dynamic model of the mechanical-electrical coupling of the printer system is obtained.The relationship between energy transfer and exchange among the energy domains of the system is described visually and intuitively,and the transfer relationship of motion force among the components is embodied.Finally,the rationality of the global dynamic model of the system is verified by comparing the results of theoretical calculation by MATLAB software and numerical simulation by ADAMS software,which lays a foundation for the study of dynamic control and provides a new idea for the dynamic modeling of printer system.
作者
郭菲
王磊磊
黄凯
张发贵
GUO Fei;WANG Leilei;HUANG Kai;ZHANG Fagui(Hebei University of Engineering,Handan 056000,CHN;Ningbo Geely Royal Engine Components Co.,Ltd.Ningbo 315336,CHN)
出处
《制造技术与机床》
北大核心
2020年第9期92-92,93-96,共5页
Manufacturing Technology & Machine Tool
基金
河北省自然科学基金青年科学基金项目(E2019402312)
河北省高等教育教学改革研究与实践项目(2018GJJG259)。
关键词
3D打印
动力学建模
旋量键合图
数值仿真
3D printing
dynamic modeling
screw bond graph
numerical simulation
