基于Pro-E空间凸轮的设计及3D建模

Pro/E3D3,,,(,710021):Pro/E3D,,,:Pro/E;:TH132:A:1001-2354(2007)12-0014-04,,,,,,[1],:(1),,(2),(3),,313DPro/E,[2],1,,,,;,,,1LUOJian2guo1,HEMao2yan1,LUZhen2,HUANGZhen3(1.NorthChinaInstituteofScienceandTechnology,Beijing101601,China;2.SchoolofElectricalEngineeringandAutoma2tion,BeijingUniversityofAeronauticsandAstronautics,Beijing100083,China;3.ResearchCenterofRobot,YanshanUniversity,Qinhuangdao066004,China)Abstract:Akindofnewtypedseriesparallelconnectedmech2anismwasconstructedonthebasisoftraditionalseriesconnectionandparallelconnectionmechanism.Threedimensionaldisplace2mentandrotationofmainshaftwasrealizedbymeansoflineardrive,andtheequivalentformofmechanismwasobtainedbytheu2tilizationofdecompositionandsynthesisofmechanism.Atthesametimeastudywascarriedoutonitspositionalreversesolutionaswell,itsinfinitesolutionsunderconditionsaccordwiththelimitedregionwerefound,andcouldobtainallitspositionalreversesolu2tionbytheuseofnumericalvaluesearchingmethod.Bymeansofcarryingoutresearchandanalysisontheinfluenceofsensitivityofeachinputtingkinematicparametersaffectedbythespatialpositionandgestureoftheoutputtingmainshaft,ithasbeendiscoveredthatthereexistssimilardegreedorsymmetricalrelationshipsamongki2nematicparametersofthesamekind.Ithasgottobeknownthattherearefourkindsofinputtingkinematicparametersplayedkeyrolesonthesensitivityofspatialpositionsofoutputtingmainshaft,andtherearethreekindsofinputtingkinematicparametersplayedkeyrolesonthesensitivityofspatialgestureofoutputtingmainshaft.Atthesametimethesensitivitynumericalvalueunderspeci2ficconditionswasobtainedaswellbycomputationsintheformoflivingexamples,therebytheinstantaneousdifferenceontheextentofinfluenceonthegesturevariationofoutputtingmainshaftaffectedbyeachkindofinputtingkinematicparameters.Keywords:seriesparallelconnectedmechanism;degreeoffreedom;reversesolution;sensitivityanalysis;parameterFig9Tab1Ref9JixieSheji71062412200712JOURNALOFMACHINEDESIGNVol.24No.12Dec.20073:2007-01-29;:2007-08-06:(1982-),,,,,:CAD/CAE/CAM23D2.1,,,[3,4],(1):LfCtanpVmax+tanp(1):Lf;C;p;;;Vmax(2):rf=(0.350.7)Lfsin(2)(2):rf;b=(1.01.4)Lf(3):b(3):Lo=C-Lf(4):LoH=2[(Lf+b2+e)sin(0+2)rfcos(0+2)](5):H;02.2[4]{Sa}:r=r(u,v,)={x(u,v,),y(u,v,),z(u,v,)},Sa;D,PaSa,Sa,{Sa}:(u,v,)=(ru,rv,r)=0(u,v,),Sa,,::x=x(u,v,)y=y(u,v,)z=z(u,v,)=5(x,y,z)5(u,v,)=0,:xc=(Lf+f)cos1cos2+prcos1sin1cos2rfsin1sin2Ccos2yc=-(Lf+f)cos1sin2+prfcos1sin1sin2rfsin1cos2+Csin2zc=p(Lf+f)sin1+rfcos1cos1tanf=p(Lf+f+rfrf)C-(Lf+f+rfrf)cos112.3[5]:r=r(x(u,w),y(u,w),z(u,w))r(u,w)P:n=rurw|rurw|a,:R=R(u,w)=r(u,w)+an33D3.1[6]U,,150mm,75mm,360r/min,150mm,2,2,,,,VmAm,A(1)(6),3.23D3.2.1Pro/E,,150mm,,333.2.2,,,(1),s,v=ds/dt,51200712,:Pro/E3D,v=360()/min,44(2),,40,,-20,s,v=ds/dt,a=d2s/dt2,Smax=40,,,a,vs5,53.2.3OO,A,B,C,D,E,F,GH8,,,,t=0,,AA1A2A3AN,,B,C,D,E,F,GHB1B2B3BN,C1C2C3CN,D1D2D3DN,,H1H2H3HN,,,6,,,,73.2.4,,,,,8,,67(a)(b)84Pro/E3D,:(1)3D(2)Pro/E,,(3)CAE,(4)CAM,,,,[1],.[M].:,1990.[2],,.[M].:,2005.[3].[M].:,2004.[4].CAD[D].:,2004.[5].[M].:,2000.[6],,.[J].,2006(1):47-48.612412BagciC3,(,066004):BagciC,,6,6,:;;;:TH112:A:1001-2354(2007)12-0017-02BagciC1971(ASME)[1],..(kolchin),,,(),,,,[24],[5],[1]M=Lj=1mj,6,,6,M=Lj=1(mj-mmin)1,,,,m,m=1,1I,Z,1m0,1,2,3,4,5L,jmjqj,qj=6-mj,qjmmin,qmax,,qm,1I5,3,51sarrut,jnj,njPj,,njPj:Pj=nj+1(1)2,I1,2,3,34,III4,5,32Nii,mjNiiui,:ui=(6-mj-i)Ni(2)Designofspatialcamand3DmodelingbasedonPro/EYANGNi,GEZheng2hao,YANGFu2lian,XUFeng(ShanxiUniversityofScienceandTechnology,Xian710021,China)Abstract:Thespatialcamdesignand3DmodelingmethodbasedonPro/Ewereputforward.Thoughtsandtheoreticalbasisofthedesignandmodelingmethodwereintroducedindetail,andbymeansoflivingdesigningexampleofthetranslationtypedarcsur2facedcammanipulatorthecorrectnessandfeasibilityofthismethodwereverified.Keywords:Pro/E;spatialcammodelingFig8Tab0Ref6JixieSheji70772412200712JOURNALOFMACHINEDESIGNVol.24No.12Dec.20073:2007-03-13;:2007-06-07:(1945-),,,,,: