| As the research basis of mechanism,the linkage mechanism is an important part of the mechanical composition.With the rapid development of computer,the traditional mechanism has gradually evolved into modern mechanism,and the fields of application are also more diversified,and the direction is also toward higher precision,more serialized and higher load,the change of load corresponds to the change of mechanical property results,and the related mechanical theoretical research and test analysis become more and more important.Therefore,for Linkage mechanism that bears large longitudinal loads in the longitudinal direction,It is of great significance to conduct relevant analysis and research on statics and dynamics and to build a relevant virtual simulation platform.Based on the domestic and foreign research status of the linkage mechanism,this article combines the principle of the longitudinal loading linkage mechanism under the background of the subject to carry out the research on the parametric model building technology.Through the parameterization of connecting rod size,kinematics and dynamics variables,and parameterization of the relationship between key design variables and calculation models,the establishment of a reasonable kinematics and dynamics parameter model is completed.And the kinematic position change of the linkage mechanism was analyzed using complex vector method.According to the principle of the mechanism,a static mathematical model is established.In order to better verify the correctness of the model,the configuration parameters of the linkage mechanism are changed,and the calculation is performed according to the mathematical model.The statics output results under different configurations are obtained.Using ADAMS to simulate different configurations and working conditions,the results are compared with the program solution results and the errors are analyzed,which verified the correctness of the statics model.According to the Newton-Euler method,this paper constructs a dynamic mathematical model of the longitudinally loaded linkage mechanism with friction,and establishes a neighborhood search method to solve the "singularity" problem in the MATLAB dynamics solution process.Changing the operating conditions and configuration parameters,a large number of dynamic simulations were carried out using ADAMS.The simulation results of dynamic parameters are compared respectively,and the errors of both results are calculated,which verify the correctness of the dynamic mathematical model.Aiming at the influence of flexibility on the mechanism under heavy load,this paper uses ADAMS to establish a flexible body model and simulate it.For two different working conditions,the changes in the angular velocity,angular acceleration and joint reaction force of the flexible body are analyzed,And the changes of deflection,the position of the center of mass and the amount of deformation during the movement are observed,and the specific influence of flexibility on the movement of the mechanism is obtained.In addition,the load position of the flexible body is biased,and the changes in the output characteristics of the flexible body before and after the bias are analyzed.The analysis of the flexible body in various aspects reflects.It reflects its movement more realistically and improves the simulation accuracy.Based on the establishment of statics and dynamics mathematical models,this paper builds a virtual simulation platform with the help of MATLAB,designs the main interface according to functional requirements,and embeds the statics test and dynamics test module sub-interfaces,and carries out corresponding functional tests.The completeness,feasibility and rationality of the functions of the simulation platform are verified. |
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