空间连杆引纬机构柔性铰间隙动态特性研究  

Research on dynamic characteristics of spatial-linkage weft insertion mechanism considering flexible hinge clearance

作　　者：李博[1,2] 胡凯[1,2] 金国光[1,2] 魏展 畅博彦[1,2] LI Bo;HU Kai;JIN Guoguang;WEI Zhan;CHANG Boyan(Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology, Tiangong University, Tianjin 300387, China;School of Mechanical Engineering, Tiangong University, Tianjin 300387, China)

机构地区：[1]天津工业大学天津市现代机电装备技术重点实验室,天津300387 [2]天津工业大学机械工程学院,天津300387

出　　处：《纺织学报》2021年第1期145-153,共9页Journal of Textile Research

基　　金：国家自然科学基金项目(51475330);天津市自然科学基金项目(16JCZDJC38500,17JCQNJC03900,17CQNJC03600,18JCQNJC05300)。

摘　　要：为提升高速剑杆织机的运行效率,深入研究运动副间隙给空间连杆引纬机构运动输出带来的影响。首先,采用矢量法对空间连杆引纬机构进行运动学仿真,选择适合高速剑杆织机工况下的Lankarani-Nikravesh建模方法;其次,将计算得到的运动学参数与柔性铰碰撞力模型相结合,使用Newton-Euler方法对系统运动输出部分进行动力学分析;结合具体工程实例,求解不同间隙下系统的动态特性;最后,通过虚拟样机检测数据校核并与刚性铰间隙碰撞建模方法进行输出对比和误差分析。结果表明:间隙的增加会导致剑头加速度的剧烈波动,进而影响空间连杆引纬机构平稳接纬和剑头准确夹持纬纱;在间隙值为0.5 mm时,采用柔性铰方法能将剑头位移的峰值误差缩小69.4%,有效提升工作精度。In order to improve the operation efficiency of high-speed rapier loom,the complex influence of the joint clearance on the motion output of the spatial-linkage weft insertion mechanism was studied.Kinematic simulation of the mechanism was firstly carried out by using the vector method,and a variety of discontinuous contact force models considering energy dissipation were compared.The Lankarani-Nikravesh modeling method suitable for high-speed rapier loom was selected.Secondly,combining the calculated kinematic parameters of the spatial linkage with the impact force model of the flexible hinge,the dynamic analysis of the output part of the system was carried out by the Newton-Euler method.Combined with specific engineering practice,the dynamic characteristics of the system with different clearances were worked on.Based on the validation of the virtual prototype test data and the output comparison and error analysis with the rigid hinge clearance collision modeling method.The results show that the increase of clearance leads to sharp fluctuation in rapier head acceleration,affecting the smooth pick-up and accurate weft clamping.When the clearance value is 0.5 mm in particular,the peak error of rapier head displacement is reduced by 69.4%by using flexible hinge method,effectively improving the operating accuracy.

关 键 词：引纬机构 柔性铰 穿刺深度 接触碰撞力 剑杆织机 

分 类 号：TS103.33[轻工技术与工程—纺织工程]