旋转多臂提综机构运动精度综合分析  

Comprehensive analysis of kinematic accuracy of rotary dobby heald lifting mechanism

作　　者：张港 赵世海[1] 袁汝旺[1] ZHANG Gang;ZHAO Shi-hai;YUAN Ru-wang(Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,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

出　　处：《机电工程》2022年第12期1769-1775,共7页Journal of Mechanical & Electrical Engineering

基　　金：中国纺织工业联合会应用基础研究项目(J202003);天津市自然科学基金资助项目(18JCYBJC20200)。

摘　　要：为了提高旋转多臂提综机构的运动精度及其工作的稳定性,建立了考虑尺寸误差和运动副间隙的旋转多臂提综机构各部分的运动精度误差模型,并对其进行了仿真分析。首先,基于机构工作原理,结合连续接触模型,建立了考虑尺寸误差和运动副间隙的共轭凸轮变速机构和平面四杆机构,及其串联而成的旋转多臂提综机构的运动精度误差模型;然后,运用MATLAB对机构进行了数值计算和运动仿真,并分析了共轭凸轮变速机构和平面四杆机构对旋转多臂提综机构运动精度的影响;最后,采用减小运动副间隙值的方法,提高了旋转多臂提综机构的输出精度。研究结果表明:运动偏差在角速度和角加速度极值附近达到最大;共轭凸轮变速机构对提综机构输出精度的影响大于平面四杆机构,且两机构的运动误差对输出精度影响具有一定累积作用;将运动副间隙减小0.02mm后,提综臂角位移、角速度和角加速度最大偏差分别减小10.26%、15.54%、27.75%;该研究结果可为后续对旋转多臂提综机构的运动精度分析提供理论参考。Aiming at the problems that the kinematic accuracy and working stability of the rotary dobby heald lifting mechanism need to be improved,the kinematic accuracy of the mechanism was modeled and simulated.Firstly,based on the working principle of the mechanism and combined with the continuous contact model,the motion accuracy error model of the rotary dobby heald lifting mechanism with dimensional error and kinematic pair clearance was established,which was made by conjugate cam transmission mechanism and plane four-bar mechanism in series.Then,numerical calculation and motion simulation were carried out by MATLAB,and the influence of conjugate cam transmission mechanism and plane four-bar mechanism on the motion accuracy of rotary dobby heald lifting mechanism was analyzed.Finally,the output accuracy of the rotary dobby heald lifting mechanism was improved by reducing the clearance value.The research results show that the motion deviation reaches the maximum near the extreme values of angular velocity and angular acceleration.The conjugate cam transmission mechanism has a greater impact on the output accuracy of the heald lifting mechanism than the plane four-bar mechanism,and the motion errors of the two mechanisms have a cumulative effect on the output accuracy.After the clearance of the kinematic pair is reduced by 0.02 mm,the maximum deviations of angular displacement,angular velocity and angular acceleration of the heald lifting armare reduced by 10.26%,15.54%and 27.75%respectively.The research results canprovide a theoretical reference for the motion accuracy analysis of the rotary dobby heald lifting mechanism.

关 键 词：旋转多臂提综机构 连续接触模型 机构输出误差 运动副间隙 共轭凸轮变速机构 平面四杆机构 提综臂运动精度 

分 类 号：TH115[机械工程—机械设计及理论] TS103[轻工技术与工程—纺织工程]