摘要
基于蒙皮零件的成形特点,研究了提出的横向蒙皮拉伸机运动学特性。利用Grassmann线几何分析了夹钳的铰链点布置对拉伸机奇异性的影响,得到了拉伸机构的2种奇异位形和2种非奇异位形。采用齐次变换法建立了拉伸机的运动学方程,求得了位置反解解析表达式,并给出了相应的数值算例进行验证。导出了拉伸机驱动关节速度到夹钳参考点速度的雅可比矩阵,求得了拉伸机的工作空间,为进一步研究该型横向蒙皮拉伸机拉形轨迹精确控制提供了理论依据。
Based on the stretch-forming characteristics of skin parts,the kinematics characteristics of the proposed transverse stretch-forming machine for aircraft skin are studied.The influence of the hinge point arrangement of the jaw on the singularity of the stretch-forming machine was analyzed by Grassmann line geometry,and two singular configuration and two non-singular configuration of the stretch-forming machine were obtained.The kinematic equation of the stretch-forming machine is established by homogeneous transformation method,which obtains the position inverse analytical expression and gives the verification of corresponding numerical example.Jacobian matrix is derived from the driving joint speed to the jaw reference point velocity.The workspace of the stretch-forming machine is obtained.It provides a theoretical basis for further research on the precise control of the stretch-forming trajectory of the transverse stretch-forming machine for aircraft skin.
作者
杨伟
程军周
张康武
闫玉平
张镭
芦跃峰
YANG Wei;CHENG Jun-zhou;ZHANG Kang-wu;YAN Yu-ping;ZHANG Lei;LU Yue-feng(State Key Laboratory of Metal Forming Technology and Heavy Equipment,Xi’an 710018,China;China Heavy Machinery Research Institute Co.,Ltd.,Xi’an 710018,China)
出处
《重型机械》
2023年第2期90-96,共7页
Heavy Machinery
基金
国家04专项(课题编号:2018ZX04007002)。
关键词
拉伸成形
奇异位形
运动学
雅可比矩阵
工作空间
stretch-forming
singular configuration
kinematics
Jacobian matrix
workspace
