全伺服驱动二自由度九杆机构的同步控制研究  

Study of synchronization control in the 2-DOF planar nine-bar linkage system driven by servo-motor

作　　者：黄海波[1] 莫健华[1] 吕言[1] 杜二虎[1] 

机构地区：[1]华中科技大学材料成形与模具技术国家重点实验室,湖北武汉430074

出　　处：《锻压装备与制造技术》2012年第3期30-34,共5页China Metalforming Equipment & Manufacturing Technology

摘　　要：提出了一种二自由度九杆传动机构的全伺服驱动模式,运用MSC.ADAMS软件建立了该机构的虚拟样机模型,并在此基础上进行了同步控制的仿真。仿真数据显示,当两曲柄同步转动时,仅改变其彼此间的初始相位差,就可以获得多种形式的滑块运动曲线,曲柄2相对于曲柄1的初始相位差超前则滑块运动曲线理想,但扭矩增加;反之则扭矩降低,但滑块运动曲线却不是很理想。A new servo-drive mode which uses servo-motor as the power input to drive the 2-DOF planar nine- bar linkage system has been proposed in the text.The virtual prototype of such mechanism has been established and the simulation of synchronization control has been carried out by use of MSC.ADAMS software. Based on the results of this simulation,it can be concluded that several kinds of output motion curves could be easily achieved by only adjusting the initial phase position of the two cranks. In detail,when the initial phase position of crank 2 is ahead of crank 1,perfect output motion curves have been achieved despite of a minor increase in the two cranks＂ torque. Otherwise,the two cranks＂ torque has been reduced to a low level while the output motion curves are not so desirable.

关 键 词：机械设计 二自由度九杆机构 同步控制 初始相位差 伺服压力机 

分 类 号：TG385[金属学及工艺—金属压力加工]