一种并/混联汽车电泳涂装输送机构运动/力传递效率性能分析

中国机械工程

一种并/混联汽车电泳涂装输送机构运动/力传递效率性能分析

朱明星1,2;高国琴1;吴军3;陈太平1

1.江苏大学电气信息工程学院，镇江，212013
2.江苏科技大学公共教育学院，镇江，212003
3.清华大学机械系，北京，100084

出版日期:2017-09-25 发布日期:2017-09-22
基金资助:
国家自然科学基金资助项目(51375210)；
江苏高校优势学科建设工程项目(苏政办发［2014］37号)；
镇江市工业科技支撑项目(GY2013062)；
镇江市京口区科技计划资助项目(jkGY2013002)
National Natural Science Foundation of China （No. 51375210）

Analysis of Motion/Force Transmission Efficiency Performance for a Parallel/Hybrid Electro-coating Conveying Mechanism of Automobile Bodies

ZHU Mingxing1,2;GAO Guoqin1;WU Jun3;CHEN Taiping1

1.School of Electrical and Information Engineering,Jiangsu University,Zhenjiang,Jiangsu,212013
2.School of Humanities and Sciences,Jiangsu University of Science and Technology,Zhenjiang,Jiangsu,212003
3.Department of Mechanical Engineering， Tsinghua University,Beijing,100084

Online:2017-09-25 Published:2017-09-22
Supported by:
National Natural Science Foundation of China （No. 51375210）

摘要/Abstract

摘要： 针对一种新型汽车电泳涂装输送机构，提出一种表征并/混联式输送机构输入输出端之间的运动/力传递效率的分析评价方法。首先采用旋量形式导出输送机构的运动学和动力学，再根据旋量的Klein型即李代数e(3)的双线性形式，建立了以输送机构末端执行器的瞬时运动功率与输入端瞬时运动功率的比值作为表征机构输入输出的运动/力瞬时传递效率的瞬态分析评价指标。基于所提出的分析评价方法，得出机构在三种典型期望运动轨迹下从输入端到输出端的运动/力瞬时传递效率随时间变化的曲线，并求得其运动/力平均传递效率。最后利用MATLAB软件对机构进行实例仿真，仿真结果表明了评价指标的合理性和有效性。

关键词: 性能指标, 旋量理论, 输送机构, 运动/力传递效率

Abstract: For motion/force transmission efficiency from the inputs to the outputs of a novel mechanism for automobile electro-coating conveying, an analysis and evaluation method was proposed. Firstly, the kinematics and dynamics of conveying mechanism were derived by screw form. According to the Klein form of the screw, namely a bilinear symmetric form of the Lie algebra e(3), the transient analysis and evaluation index of the input/output motion / force instantaneous transfer efficiency was presented ,which was based on the ratio of the instantaneous powers of the end effector of the conveying mechanism and the instantaneous input powers of the input terminal. Furthermore, on the basis of the proposed evaluation method, the time varying curve of the instantaneous transfer efficiency of mechanism motion / force were obtained, and the average transfer efficiency of the motion / force was obtained. Finally, the simulations of the mechanism were carried out by using MATLAB software. The simulation results show that the evaluation index is reasonable and effective.

Key words: performance index, screw theory, conveying mechanism, motion/force transmission efficiency

中图分类号:

TH238

朱明星1,2;高国琴1;吴军3;陈太平1. 一种并/混联汽车电泳涂装输送机构运动/力传递效率性能分析[J]. 中国机械工程.

ZHU Mingxing1,2;GAO Guoqin1;WU Jun3;CHEN Taiping1. Analysis of Motion/Force Transmission Efficiency Performance for a Parallel/Hybrid Electro-coating Conveying Mechanism of Automobile Bodies[J]. China Mechanical Engineering.

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