悬臂式低压铸造机的设计及运动学分析  

Design and Kinematics Analysis of Cantilever Low-pressure Casting Machine

作　　者：周锦华[1] 武建新 安建飞 史晓平 ZHOU Jinhua1, WU Jianxin2, AN Jianfei2, SHI Xiaoping2(1. Department of Electromechanical Technology, Ulanqab Vocational College, Ulanqab 012000, China;2. School of Mechanical Engineering, Inner Mongolia University of Technology, Huhhot 010000, China; 3. Inner Mongolia Hengfang Technology Co., Ltd., Huhhot 0t0000, China)

机构地区：[1]乌兰察布职业学院机电技术系,内蒙古乌兰察布012000 [2]内蒙古工业大学机械工程学院,内蒙古呼和浩特010000 [3]内蒙古恒方科技有限公司,内蒙古呼和浩特010000

出　　处：《铸造技术》2018年第10期2311-2315,共5页Foundry Technology

基　　金：自治区工程技术研究中心建设-液压传动与控制工程技术研究中心项目(102-413126)

摘　　要：针对四立柱式低压铸造机自动化程度低的局限,设计了一款五自由度悬臂式低压铸造机。应用D-H法建立了铸机悬臂参数,通过Matlab/Robotics Toolbox分析软件对悬臂的不同工序进行逆运动学分析,并求得其最优解。通过实验,对关键拐点处位姿坐标的测量值与实验值进行了比对。结果表明,悬臂式低压铸造机空间位姿运动学模型建立正确,控制系统的有效性得到了证明。Aiming at the problem of low automaticity of four-column low pressure caster, the five-DOF cantilever type low-pressure caster was designed, Based on the D-H method, the cantilever parameters of casting machine were established. The inverse kinematics analysis of different processes of cantilever was carried out by Matlab/Robotics Toolbox analysis software, and the optimal solution was obtained. The measured values of the pose coordinates at the critical inflection point were compared with the experimental values. The results show that the model of spatial posture kinematics of cantilever low pressure casting machine is correct and the validity of the control system is proved.

关 键 词：低压铸造机 悬臂 运动学分析 

分 类 号：TG233[金属学及工艺—铸造]