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提出了一种能实现升降运动与水平移动之间解耦的完全解耦式锻造操作机机构,该机构直接将Hoekens四连杆近直线输出机构输出端与钳杆中部相连,并在四连杆机构其中的一连杆中间安装水平缓冲缸。基于位置正解模型,分析了操作机分别只作升降和俯仰运动时钳杆末端的位置变化,结果表明:当操作机升降运动时,其产生的水平方向的耦合位移量在控制误差范围之内,可实现升降运动与水平方向移动的解耦;当操作机只作俯仰运动时,钳杆末端在竖直方向产生的位移几乎为零,在水平方向产生的位移也非常小,钳杆几乎是绕着钳杆末端定点转动的。
A complete decoupling forging manipulator mechanism which can realize the decoupling between the lifting motion and the horizontal motion is proposed. The mechanism directly connects the output end of the Hoekens four-bar near linear output mechanism with the middle of the clamp rod, The middle of a connecting rod in the mechanism is equipped with a horizontal buffer cylinder. Based on the positive position model, the change of the position of the end of the clamp lever when the manipulator is only used for ascending and descending movements respectively is analyzed. The results show that when the manipulator moves up and down, the coupling displacement in the horizontal direction is within the control error range, When the manipulator only makes pitch movement, the displacement of the end of the clamp rod in the vertical direction is almost zero, and the displacement generated in the horizontal direction is also very small. The clamp rod is almost orifices With the end of the clamp rod fixed-point rotation.