Kinematics And Dynamics Research Of The Tire Shaping Drum Based On Parallel Mechanism

Parallel mechanism has been widely used in the industrial robot, aviation, medical equipment, equipment manufacturing industry and entertainment with its own advantages. In recent years it is a hot spot in the mechanical and automation field research. This topic takes the parallel tire shaping drum mechanism as the research object, which carries a systematic study in the structure, kinematics and dynamics about it.First, the topological structure of parallel mechanism was studied, which was the foundation of the analysis of the parallel mechanism structure, and the basic theory of kinematics and dynamics analysis of commonly used method was studied.Second, the freedom and movement output characteristics of the tires shaping drum mechanism was studied based on the theory of topology structure. According to the kinematics basic knowledge, the position and inverse solution and trajectory was studied. The virtual prototype was set up and the movement characteristics analysis was analyzed by using ADAMS software.Third, the dynamic equations was established using Newton-Euler method with considering institutions as the rigid body and the dynamic characteristics was analyzed by using ADAMS software.Final, considering components elastic deformation, the dynamic equations of beam elements and branches were derived using the space beam element theory, then the overall dynamic equations of shaping drum mechanism was obtained by assembling dynamics equations of branch chain. The relationship between the natural frequency and basic parameters of the mechanism was explored and studied dynamic stress of the component.Through the above analysis and studies, a clear and deep understanding about the structure, kinematics and dynamics performance of the tire shaping drum mechanism was appeared, which has made a good foundation for its practical application.