大型锻造操作机提升机构运动分析及优化  

Kinematical Analysis and Optimization on Lifting Mechanism for Large Manipulators

作　　者：王勇勤[1] 杨青松[1] 严兴春[1] 韩炳涛[2] 张营杰[2] 房志远[2] 

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400030 [2]中国重型机械研究院,西安721000

出　　处：《重庆理工大学学报（自然科学）》2012年第4期53-56,共4页Journal of Chongqing University of Technology：Natural Science

基　　金：国家重大专项资助项目(2010ZX04013-021)

摘　　要：对大型DDS锻造操作机提升机构进行了运动学分析,建立了操作机的运动学模型,在此基础上运用数值优化方法对其进行了优化设计。对比分析了优化结果与其他不同工况的仿真结果,研究结果表明夹钳在提升过程中其水平方向的误差较小。得到提升机构的最优设计参数。Kinematic analysis of the lifting mechanism is carried out on large DDS manipulator. A ki- nematic model for manipulator is built. Based on numerical optimization, the lifting mechanism of ma- nipulator is optimized. By comparing the results of optimization and the simulation results of various other conditions, the lifting error of manipulator tongs is reduced in the horizontal direction. This opti- mization method and model are effective for the lifting mechanism design.

关 键 词：操作机 提升机构 运动学优化 

分 类 号：TH21[机械工程—机械制造及自动化]