The Clamping Mechanism Based On Bond Graph Nonlinear Modeling And Simulation Research

At present, along with the development of national forging industries and rapidly increased requirement for large forging, loading capacity and loading torque demanded by forging manipulator became more and more larger, its dynamic performance become more and more complex and the influence of all factors on operation performance increase gradually. So there are important theoretical significance and value to carry out dynamics research of overloading manipulator holding mechanism and consider all kinds of factors such as hinge friction and clearance simultaneously.Dedicating to using a method convenient to nonlinear factor model.So, firstly, aiming at dry friction and clearance character of machine, use switch bond graph to build dynamical model of clearance and dry friction respectively. Secondly, aiming at dry friction and clearance simultaneously existing in mechanism gemel and the complexity of modeling and calculating, utilize switch bond graph to build gemel nonlinear model,then embed the model into machine vector bond graph modeling in the form of blocking and give out gripper machine blended bond graph modeling that has considered nonlinear factor, obtain the effects of nonlinear factor on holding gripper machine dynamical performance through simulation.Lastly, guided by similarity theory with multi-domains and based on specific and imagic bondgrap, build an experimental models which is similar with electricity system that can response holding machine more precisely and factualy. Then,explore dynamics of gripper at the experimental level and verifie the correctness of grippers'hybrid bond graph modles that has considered nonlinear factor.