【作者】 葛浩；

【导师】 高峰；

【作者基本信息】 上海交通大学 ， 机械设计及理论， 2011， 博士

【摘要】 重载锻造操作机是在极端载荷条件下作业的巨型工业机器八，可夹持大型工件配合万吨压机实现自由锻造。由于重载锻造操作机输出自由度多且相互耦合，锻造过程中末端夹钳的位姿和速度操作能力、力承载特性及整体刚度随着机构的形位变化而动态变化，因此如何保证极端作业条件下锻造操作机在整个工作空间中的力操作能力和速度操作能力，是重载操作装备设计所面临的技术挑战。本文研究了巨型重载锻造操作机的构型设计方法和动力学性能，包括重载锻造操作机的机构可约设计方法、机构可约设计中的同构性判定方法、新型重载锻造操作机的运动学建模与仿真、新型重载锻造操作机的动力学参数识别和标定建模及实验、新型重载锻造操作机整机协调运动和主动缓冲建模与仿真等。主要内容如下：(1)建立考虑任务特征的多自由度操作装备构型原理，给出多自由度操作机构末端任务特征和驱动输入之间关联关系的可约建模方法，建立操作机构可约特性与构型的映射关系，以及基于可约特性的构型分类原理，为重载多自由度操作装备的机构构型设计提供理论基础，同时给出重载锻造操作机的构型可约设计方法与步骤并设计出新的锻造操作机机构。(2)研究了机构可约设计中的同构性问题并建立同构判定模型，提出同构判定的特征系统方法，给出特征系统法同构判定的理论基础，建立机构可约特性的同构分类原理，对锻造操作机机构可约设计中的同构问题进行了判定。(3)建立了新型锻造操作机的运动学模型，包括解析形式的位姿方程、速度等数学模型。(4)建立了新型重载锻造操作机的动力学参数识别与标定模型，包括新型锻造操作机内外部力、杆件惯量和尺寸之间的映射关系，推导出映射关系矩阵，对锻造操作机的动力学参数识别和标定进行实验，比较了理论模型数据和实验数据之间的误差，并给出了误差源分析和误差消除方法。(5)建立锻造操作机的整机协调运动与主动缓冲控制模型，设计了新型锻造操作机启动、停止运动和主动缓冲过程中的控制方程，并对设计结果进行仿真。本文的研究成果是巨型重载操作机的构型设计和性能设计的基础，对设计重载锻造操作机和万吨压机智能联动控制系统具有明显的理论意义和应用价值更多还原

【Abstract】 Forging manipulator is not an ordinary industrial robot and always works in very harsh environment. It can clamp hundreds of tons of work pieces and finish the open-die forging with press. Heavy-payload forging manipulator has characteristics of mult-degree of freedom with high coupling the capacity of complex control with displacement and orientation, large payload and high stiffness. The structural features and kinematic plans of the forging manipulator play an important role in the quality of automatic linkage control. This work focuses on the mechanism design and dynamatic analysis of heavy-payload forging manipulator system. These key technologies include the type design based on reducible performance and the corresponding isomorphism identification, kinematic modeling and analysis of newly designed forging manipulator, dynamic parameters identification and calibration, buffering optimization and simulation in starting and braking. This dissertation’s main work can be concluded as:(1) The type theory based on work requirements for muit-degree of freedom and heavy-payload manipulators is studied. The concept of reducible performance is defined and investigated from the view of the incidence relationship between outputs and inputs. The incidence relationship between outputs and inputs of heavy-payload forging manipulator is obtained, the type design is divided into three parts after detailed understanding of the functional properties, and the design flow is given. Several new types of mechanisms for heavy-payload forging manipulator are classified and corresponding spatial mechanism diagrams are proposed.2 The theoretic basis of eigen system approach is studied and practical applications are discussed. A new matrix is proposed which contains at least one distinct eigen value based on the incidence relationship matrix, and the Eigen system approach is used to identify the isomorphism of new matrices. Examples are given by using the proposed matrices and the Eigen system approach is used to identify the isomorphism of reducible performance for heavy-payload manipulators.3 A new-type serial-parallel forging manipulator is presented, and the closed form kinematic solutions are derived. Based on the length of test prototype, the different position and orientation are simulated, and the analytic algorithm for the computation of Jacobian matrix is also presented. All those lead to the establishment of the mathematic model of the forging manipulator.(4) The model of dynamatic parameters identification and calibration is given. The transformation matrix for link’s inertia, length, known forces and unknown forces is obtained after detailed kinematic and force analysis of test prototype. Test data collection and processing are done in test prototype, comparison diagram of theory and test data are drawn, and error analysis is given.(5) The model of motion coordination and buffering design for forging manipulator is built. The optimal curves in starting and braking and buffering design are presented, and the corresponding process and simulation are also investigated.更多还原