Load Balance Analysis And Control For The Double-gear Parallel Driving Systems Of Heavy-duty Forging Manipulators

The study of the Double-gear parallel driving system for precise rotary is one of key spots for heavy-duty forging manipulators. In the present paper, in order to achieve better angular precision and load balance, the Double-gear parallel driving systems of the forging manipulator was studied in the special work condition of heavy load, large inertia. The main contents of the paper are as follows:In order to select the appropriate modeling method for the research on load balance of the Double-gear parallel driving system, In this paper,the double-gear parallel driving of the heavy machine operator about rigid body and flexible body simulation were researched on the platform of Adams2010.The model neutral files(MNF)of the system were created by utilizing the FEA technology, and its virtual prototype models were set up by Adams software, then through defined same motion and effort dynamic static load by step function, sprit the analysis of dynamics of machinery with the model of rigid-body model and the model of flex-body model. Comparing the results such as angular velocities and gear meshing forces of flex body model with those of rigid body model. Studies suggest that for the transmission, the system treated as a rigid body can fully meet the research requirements.On the platform of Adams2010,the dynamic process of the double-pinion parallel driving systems was simulated.Then the influence of rotating eccentric, meshing stiffness, damping,installation error and torque error on load balance was analyzed. It was found that the rotating eccentric, torque error and installation error have great impact on load balance, but the impact of meshing stiffness and damping was relatively small.To achieve the precious control of motion and load balance control for the Double-gear parallel driving system, a gear transmission dynamics model was proposed by modifying a robotic contact model. The initial parameters of PID controller was designed based on the mathimatical model, and the load balance strategy was established based on torque compensation.The simulation showed that conventional PID controller realized the angular precision and the load balance. Therefore, this method meet the control requirements for the special work condition of Double-gear parallel driving system.