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制动工况所产生的惯性冲击严重影响着操作机的工作精度,并限制其快速响应能力。针对平行连杆式锻造操作机,利用拉格朗日方程法建立了制动工况下悬挂系统动力学模型,分析了系统中回弹装置和缓冲装置的耦合性能对系统控制精度的影响,研究了减少操作机控制精度误差的思路。以300 k N锻造操作机为例,采用Matlab求解动力学微分方程,获得了制动工况下的回弹装置和缓冲装置对悬挂系统转臂摆角、吊杆摆角和钳杆质心的变化规律,明确了悬挂系统中回弹装置和缓冲装置的耦合性能对提高操作机控制精度的作用。并利用Adams软件对操作机进行动力学仿真,得到了制动工况下悬挂系统中回弹装置和缓冲装置的耦合性能对系统振动影响的仿真实验曲线,进一步验证了理论分析的可行性与合理性。
The inertial impact caused by braking condition seriously affects the working accuracy of the manipulator and limits its quick response ability. For the parallel link forging manipulator, the dynamic model of the suspension system under braking condition is established by Lagrange’s equation method. The influence of coupling performance of the rebound device and the buffer device on the system control accuracy is analyzed. To reduce the error of control precision machine operator ideas. Taking a 300 kN forging manipulator as an example, the dynamic differential equation was solved by Matlab, and the change of boom swing angle, boom swing angle and the center of mass of the clamp rod under the braking condition Law, a clear suspension system in the coupling device and the shock absorber coupling device to improve the control accuracy of the role. Adams software was used to simulate the operation of the manipulator. The simulation experiment curve of the coupling performance of the rebound device and the buffer device in the suspension system under braking condition was obtained, which further verified the feasibility and rationality of the theoretical analysis Sex.