| This issue analyze mainly dynamic of the hybrid segment erector with6-DOF. The purpose is to verify whether the structural design of this segment erector from a theoretical view. And specifically to verify the dynamics performance meeting project needs. The specific research methods and conclusion of:Firstly, segment erector kinematics analysis. For series section of Institution, determining the components of D-H parameters from selecting a deputy campaign coordinates. We can get transformation matrix of deputy campaign position by the rotation transformation. We can get the deputy campaign speed by derivation the transformation matrix. For parallel mechanism section, obtain the Inverse of kinematics with analytical method. And the Velocity analyses use the vector method.Then, segment erector dynamic analysis. Anglicizing kinetic and potential energy of the erector deputy campaign in theoretical mechanics and institutions. Finally, we use Lagrange equations to build the dynamic model. The dynamic model prepare for the simulation and system control of the institutions.Next, we evaluate dynamic performance of fine-tuning structure. First, simplify the deputy campaign and determine the kinematics axis of the pair. According to the formula, calculate the organization’s first and second influence coefficient matrix. Then substituting them into the driving cylinder performance indicators of acceleration and driving torque. Finally, get the optimal size range of institutions by analyzing the performance map.Finally, do erector dynamic simulations of fine-tuning structure by virtual prototype. Import the geometric model from Solid Works into Adams. And then add constraint, removable drives, load accurately for its deputy campaign. Finally, Analysis Primarily the acceleration and driving torque curve of driving fuel tank from the simulation results. The results show that the size of the selected institutions meeting the system performance requirements in dynamics. |
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