CN103294866B - A kind of feed screw nut database building method towards lathe finite element analysis - Google Patents
A kind of feed screw nut database building method towards lathe finite element analysis Download PDFInfo
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Abstract
Feed screw nut database building method towards lathe finite element analysis: according to supplier's handbook, extracts cad model and drives parameter and dynamic analysis parameter, and building database; Described cad model drives parameter to comprise: the main driving parameter of part modeling, for driving the modeling of part; Part modeling order drives parameter, for determining the main driving parameters relationship of modeling sequentially and between part of part; According to database-driven parameter, set up the CAD Parametric geometric model of corresponding feed screw nut assembly; According to feed screw nut dimensional parameters, in finite element analysis software, set up the screw pair kinetic model of simplification; By CAD and CAE software secondary development, from database, extract feed screw nut assembly finite element analysis parameter, utilize the command stream language of finite element analysis software, be loaded on screw pair kinetic model.Present invention achieves feed screw nut assembly CAD and CAE model, simulation analysis Knowledge Aggregation in Machine Tool design, analytical model robotization is set up.
Description
Technical field
The present invention relates to a kind of machine tool lead screw nut database building method.Particularly relate to a kind of feed screw nut database building method towards lathe finite element analysis.
Background technology
Current machine tool lead screw nut model only has simple geological information, is only applied to the Machine Tool design stage; And when carrying out lathe Finite Element Simulation Analysis, need manually to arrange the analytical parameters such as material properties, Complexed Prostate Specific Antigen in finite element software, complex operation and easily makeing mistakes.Machine Tool design personnel will spend a large amount of time in repetitive operation, cause the waste of design resource, and to the efficiency of lathe finite element analysis and stability influence very large.Therefore, set up a kind of feed screw nut database towards lathe finite element analysis, for realizing Machine Tool design and the integrated of simulation analysis provides support, particularly important.
Summary of the invention
Technical matters to be solved by this invention is, there is provided one can realize feed screw nut assembly CAD and CAE model, simulation analysis Knowledge Aggregation in Machine Tool design process, the feed screw nut database building method towards lathe finite element analysis that analytical model robotization is set up.
The technical solution adopted in the present invention is: a kind of feed screw nut database building method towards lathe finite element analysis, comprises the steps:
(1) according to supplier's handbook, extract cad model and drive parameter and dynamic analysis parameter, and building database;
Described cad model drives parameter to comprise: the main driving parameter of part modeling, for driving the modeling of part; Part modeling order drives parameter, for determining the main driving parameters relationship of modeling sequentially and between part of part;
(2) according to database-driven parameter, the CAD Parametric geometric model of corresponding feed screw nut assembly is set up;
(3) according to feed screw nut dimensional parameters, in finite element analysis software, the screw pair kinetic model of simplification is set up;
(4) by CAD and CAE software secondary development, from database, extract feed screw nut assembly finite element analysis parameter, utilize the command stream language of finite element analysis software, be loaded on screw pair kinetic model.
The main driving parameter of part modeling described in step (1) comprises: leading screw drives parameter to be leading screw diameter and leading screw length; Nut drives parameter to be nut internal diameter; Bearing drives parameter to be bearing bore diameter; Bearing seat drives parameter and motor cabinet to drive parameter to be bearing seat inner diameter.
Part modeling order driving parameter described in step (1) is: leading screw diameter drive nut internal diameter, leading screw axle head diameter driving bearing internal diameter, bearing outside diameter driving shaft seat inner diameter and motor cabinet internal diameter; According to assembly relation, the main driving parameter of the part of rear modeling is determined according to the corresponding parameter of the part of first modeling.
Dynamic analysis parameter described in step (1) comprises material properties and Complexed Prostate Specific Antigen, for finite element analysis.Wherein, material properties comprises density, elastic modulus, Poisson ratio, thermal expansivity and pyroconductivity; Complexed Prostate Specific Antigen comprises: bearing pair rigidity and damping, pair of nut rigidity and damping.
The CAD Parametric geometric model process setting up corresponding feed screw nut assembly described in step (2) is as follows:
1) drive parameter database according to part, determine the modeling order of each part: leading screw → nut/bearing → motor cabinet/bearing seat, the part of first modeling drives the part of rear modeling;
2) according to part model dimensional parameters database, leading screw, nut, bearing, motor cabinet and bearing seat CAD geometric model is set up;
3) according to feed screw nut assembled relation, feed screw nut assembled model is generated.
The screw pair kinetic model setting up simplification in finite element analysis software described in step (3), extract to drive parameter from database, utilize the point, line, surface order of the command stream language of finite element analysis software, set up the equivalent model simplified, for finite element analysis.
The driving parameter of described cad model comprises: leading screw length, diameter, nut installed surface size, motor cabinet and bearing seat size.
The equivalent model of described simplification is as follows:
1) leading screw is reduced to a beam element, its diameter is identical with the diameter of leading screw cad model, and length is identical with the length of leading screw cad model;
1) bearing is reduced to a node unit, and overlaps with the end points of leading screw, connect with bearing rigidity unit between the two, X, Y, Z tri-axial rigidities and damping value can be added;
3) bearing seat and motor cabinet are reduced to shell unit respectively, and apply Mean unit and be connected with bearing, Mean unit represents that the mean value of nodal displacement on bearing seat/motor cabinet is got in the displacement of bearing;
4) nut portion is represented by rolling body and nut installed surface; Rolling body, by a node on behalf, overlaps with the node of correspondence position on leading screw, and both apply bearing rigidity unit and connect, and can add X, Y, Z tri-axial rigidities and damping value;
5) nut installed surface is reduced to shell unit, be connected with rolling body application Mean unit, Mean unit represents that the mean value of nodal displacement on nut installed surface is got in the displacement of rolling body.
Analytical parameters described in step (4) comprises: 1) each part material attribute: density, elastic modulus, Poisson ratio, thermal expansivity and pyroconductivity, is added on each part model; 2) kinetic parameter: the rigidity of the rigidity of bearing pair and damping value, pair of nut and damping value, be added on the bearing rigidity linkage unit of equivalent model.
By finite element analysis software secondary development program, finite element analysis parameter is extracted from database, finite element analysis parameter is loaded in feed screw nut equivalence CAE model by the command stream language of application finite element analysis software automatically, is the design of lathe and providing support of simulation analysis.
A kind of feed screw nut database building method towards lathe finite element analysis of the present invention, achieve feed screw nut assembly CAD and CAE model, simulation analysis Knowledge Aggregation in Machine Tool design process, analytical model robotization is set up, for the design of lathe and providing support of simulation analysis, extend to the field of mechanical structure design of other application feed screw nut assemblies simultaneously.Advantage of the present invention is:
(1) apply feed screw nut cad model parameter, drive CAE modeling, realize feed screw nut assembly CAD and CAE model, simulation analysis Knowledge Aggregation in Machine Tool design process;
(2) by CAE secondary development, realizing the automatic loading of the foundation of cae analysis model automatization, finite element analysis parameter, is the design of lathe and providing support of simulation analysis.
Accompanying drawing explanation
Fig. 1 is feed screw nut component model schematic diagram;
Fig. 2 is screw-nut structure class figure;
Fig. 3 is feed screw nut SAMCEF equivalent model;
Fig. 4 is that Machine Tool CAD/CAE is integrated with finite element analysis process flow diagram.
In figure
1: motor 2: motor cabinet
3: bearing 4: leading screw
5: nut 6: bearing seat
7: feed screw nut assembly 8: motor cabinet equivalent model
9: bearing equivalent model 10: leading screw equivalent model
11: nut equivalent model 12: bearing seat equivalent model
Embodiment
Below in conjunction with embodiment and accompanying drawing, a kind of feed screw nut database building method towards lathe finite element analysis of the present invention is described in detail.
A kind of feed screw nut database building method towards lathe finite element analysis of the present invention, according to supplier's handbook, extracts cad model and drives parameter and dynamic analysis parameter, and building database; Then according to the CAD parameterized model of the corresponding feed screw nut assembly of Database and the CAE screw pair kinetic model of simplification; Finally, by CAD and CAE software secondary development, the robotization realizing feed screw nut assembly CAD parameter and analytical parameters robotization reading and CAE equivalent analysis model creates.
A kind of feed screw nut database building method towards lathe finite element analysis of the present invention, comprises the steps:
(1) according to supplier's handbook, extract cad model and drive parameter and dynamic analysis parameter, and building database;
As shown in Figure 1, feed screw nut assembly is divided into 5 parts such as leading screw, nut, bearing, motor cabinet and bearing seat, according to supplier's handbook, extracts cad model and drive parameter and dynamic analysis parameter, set up part model dimensional parameters database.
Described cad model drives parameter to comprise: the main driving parameter of part modeling, for driving the modeling of part; Part modeling order drives parameter, for determining the main driving parameters relationship of modeling sequentially and between part of part;
The main driving parameter of described part modeling comprises: leading screw drives parameter to be leading screw diameter and leading screw length; Nut drives parameter to be nut internal diameter; Bearing drives parameter to be bearing bore diameter; Bearing seat drives parameter and motor cabinet to drive parameter to be bearing seat inner diameter.
Described part modeling order driving parameter is: leading screw diameter drive nut internal diameter, leading screw axle head diameter driving bearing internal diameter, bearing outside diameter driving shaft seat inner diameter and motor cabinet internal diameter; According to assembly relation, the main driving parameter of the part of rear modeling is determined according to the corresponding parameter of the part of first modeling.
Described dynamic analysis parameter comprises material properties and Complexed Prostate Specific Antigen, for finite element analysis.Wherein, material properties mainly comprises density, elastic modulus, Poisson ratio, thermal expansivity and pyroconductivity etc.; Complexed Prostate Specific Antigen mainly comprises: bearing pair rigidity and damping, pair of nut rigidity and damping etc.
(2) according to database-driven parameter, the CAD Parametric geometric model of corresponding feed screw nut assembly is set up;
As shown in Figure 2, the described CAD Parametric geometric model process setting up corresponding feed screw nut assembly is as follows:
1) drive parameter database according to part, determine the modeling order of each part: leading screw → nut/bearing → motor cabinet/bearing seat, the part of first modeling drives the part of rear modeling;
2) according to part model dimensional parameters database, leading screw, nut, bearing, motor cabinet and bearing seat CAD geometric model is set up;
3) according to feed screw nut assembled relation, feed screw nut assembled model is generated.
Like this, an amendment leading screw model-driven parameter, can generate whole feed screw nut assembled model, decreases complicated driving parameter problem.
(3) according to feed screw nut key dimension parameter, in finite element analysis software (SAMCE) F, the screw pair kinetic model of simplification is set up;
In finite element analysis software (SAMCEF), distinctive point, line, surface modeling tool can create the feed screw nut component equivalent model of simplification.Therefore the described screw pair kinetic model setting up simplification in SAMCEF, is extract to drive parameter, the point, line, surface order of the Bacon command stream language utilizing SAMCEF to carry from database, sets up the equivalent model simplified, for finite element analysis.
The driving parameter of described cad model comprises: leading screw length, diameter, nut installed surface size, motor cabinet and bearing seat size.
As shown in Figure 3, the equivalent model of described simplification is as follows:
1) leading screw is reduced to beam (Beam) unit, its diameter is identical with the diameter of leading screw cad model, and length is identical with the length of leading screw cad model;
1) bearing is reduced to node (Node) unit, and overlaps with the end points of leading screw, connect with bearing (Bearing) rigidity unit between the two, X, Y, Z tri-axial rigidities and damping value can be added;
3) bearing seat and motor cabinet are reduced to shell (Shell) unit respectively, and apply Mean unit and be connected with bearing, Mean unit represents that the mean value of nodal displacement on bearing seat is got in the displacement of bearing;
4) nut portion is represented by rolling body and nut installed surface; Rolling body is represented by a node (Node), overlaps with the node of correspondence position on leading screw, and both apply bearing (Bearing) rigidity unit and connect, and can add X, Y, Z tri-axial rigidities and damping value;
5) nut installed surface is reduced to shell (Shell) unit, be connected with rolling body application Mean unit, Mean unit represents that the mean value of nodal displacement on nut installed surface is got in the displacement of rolling body.
(4) by CAD and CAE software secondary development, realize feed screw nut assembly CAD parameter, analytical parameters reads and the robotization of CAE equivalent analysis model creates.Described analytical parameters comprises: 1) each part material attribute: density, elastic modulus, Poisson ratio, thermal expansivity and pyroconductivity etc., be added on each part model; 2) kinetic parameter: the rigidity of the rigidity of bearing pair and damping value, pair of nut and damping value, be added on the bearing rigidity linkage unit of equivalent model.
As shown in Figure 2 and Figure 3, feed screw nut assembly finite element analysis parameter is extracted from database, by SAMCEF secondary development program, feed screw nut finite element analysis parameter is loaded in screw pair kinetic model by application Bacon command stream language automatically, is the design of lathe and providing support of simulation analysis.
Analytical parameters comprises: 1) each part material attribute: density, elastic modulus, Poisson ratio, thermal expansivity and pyroconductivity etc., be added on each part model; 2) kinetic parameter: the rigidity of the rigidity of bearing pair and damping value, pair of nut and damping value, be added on the Bearing rigidity linkage unit of equivalent model.
Provide an object lesson below:
The first step: extract cad model and drive parameter and dynamic analysis parameter, building database
According to the feed screw nut sample handbook that supplier provides, extract cad model and drive parameter and dynamic analysis parameter.
(1) cad model drives parameter to comprise part model and drives parameter, modeling order driving parameter and assembling model driving parameter.Wherein, part model drives parameter for driving the modeling of part, and modeling order drives parameter for determining the modeling order of part, the principal parameter corresponding relation namely between modeling part and first modeling part.
(2) dynamic analysis parameter comprises material properties, Complexed Prostate Specific Antigen etc., for finite element analysis.Wherein, material properties mainly comprises density, elastic modulus, Poisson ratio etc.; Complexed Prostate Specific Antigen mainly comprises: bearing pair rigidity, pair of nut rigidity etc.
Reference table 1, table 2, table 3, table 4 and table 5, leading screw diameter and leading screw length are the model-driven parameter of leading screw, for driving leading screw modeling; Leading screw diameter and axle head diameter are that modeling order drives parameter, for determining nut internal diameter and bearing bore diameter value, and then the modeling of drive nut and bearing; Material properties, bearing pair rigidity and pair of nut rigidity are dynamic analysis parameter, for later stage finite element analysis.
Certain model leading screw dimensional parameters table of table 1
Certain model nut dimensional parameters table of table 2
Certain model motor cabinet dimensional parameters table of table 3
Certain model bearing seat dimensional parameters table of table 4
Certain model leading screw chi nut assembly material properties parameter list of table 5.
Certain model leading screw chi nut assembly dynamic analysis parameter list of table 6.
Second step: the CAD Parametric geometric model setting up feed screw nut assembly
With reference to figure 1, Fig. 2, first, from database, read modeling order drive parameter, determine part modeling order: leading screw → nut/bearing → bearing seat/motor cabinet; Driving relationship between part is: leading screw diameter drive nut internal diameter and bearing bore diameter value; Then, read the dimensional parameters database of each part, set up its CAD Parametric geometric model successively; Finally, according to assembly relation, set up feed screw nut assembling model, the feed screw nut for the Machine Tool design stage assembles.
3rd step: set up the screw pair kinetic model simplified
With reference to the kinetic model Establishing process in figure 4, SAMCEF be: the modeling of whole machine model importing → feed screw nut equivalent model.In detail as follows:
Step 1. complete machine tool model imports SAMCEF: in cad model, deletes feed screw nut part, and complete machine tool model is imported SAMCEF software with neutral form;
Step 2. sets up feed screw nut equivalent model: from database, read feed screw nut component model drive parameter, utilizes the distinctive point, line, surface modeling tool of SAMCEF to create the simplification finite element analysis model of equivalence, replaces its detailed geometric model.Detailed model is as follows, with reference to figure 3:
(1) reference table 1, leading screw is reduced to diameter 50mm, the Beam unit of length 1410mm;
(2) reference table 2, the rolling body of nut portion, by a Node node on behalf, overlaps with the Node of correspondence position on leading screw, and application Bearing rigidity unit connects; Nut installed surface is reduced to the Shell unit that diameter is 142mm, is connected with rolling body application Mean unit.
(3) reference table 3 and table 4, bearing is reduced to a Node unit, overlaps with the end points of leading screw, connects between the two with Bearing rigidity unit; Motor cabinet is reduced to the Shell unit of 321mm × 192mm, and bearing seat is reduced to the Shell unit of 228mm × 152mm; Motor cabinet and bearing seat are connected with corresponding bearing application Mean unit respectively;
4th step: carry out robotization and load cae analysis parameter
With reference to figure 4, extract finite element analysis parameter from database, by SAMCEF secondary development program, feed screw nut finite element analysis parameter is loaded in equivalent CAE model by application Bacon command stream language automatically.In detail as follows:
(1) reference table 5, extracts each part material attribute, comprises density, elastic modulus, Poisson ratio etc., be added on each part model.Such as: leading screw material properties is: density is ρ=7.85e
3kg/m
3, elastic modulus is E=219e
9pa, Poisson ratio is μ=0.3, and nut material attribute is: density is ρ=7.85e
3kg/m
3, elastic modulus is E=213e
9pa, Poisson ratio is μ=0.282, and motor cabinet material properties is: density is ρ=7.85e
3kg/m
3, elastic modulus is E=205e
9pa, Poisson ratio is μ=0.27, and bearing seat material properties is: density is ρ=7.85e
3kg/m
3, elastic modulus is E=205e
9pa, Poisson ratio is μ=0.27.
(2) reference table 6, extracted technique parameter, comprises the bearing pair rigidity in assembling model and pair of nut rigidity, is added on equivalent model.Such as: bearing pair radial rigidity is K
footpath=2.52e
6n/mm, axial rigidity is K
axle=1.26e
6n/mm, loads on the Bearing rigidity unit between leading screw and bearing; Pair of nut radial rigidity is K
footpath=2.5e
6n/mm, axial rigidity is K
axle=1.26e
6n/mm, loads on the Bearing unit between rolling body and leading screw.
The present invention is directed to current Machine Tool design and separate, the unrelated situation of Finite Element Simulation Analysis, propose a kind of feed screw nut database building method towards lathe finite element analysis, application feed screw nut cad model parameter, drive CAE modeling, realize that feed screw nut assembly CAD and CAE model, simulation analysis Knowledge Aggregation, cae analysis model automatization in Machine Tool design process are set up, the automatic loading of finite element analysis parameter, for Machine Tool design and simulation analysis is integrated provides support.
Although be described the preferred embodiments of the present invention by reference to the accompanying drawings above; but the present invention is not limited to above-mentioned embodiment; above-mentioned embodiment is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that present inventive concept and claim protect, can also make a lot of form, these all belong within protection scope of the present invention.
Claims (10)
1., towards a feed screw nut database building method for lathe finite element analysis, it is characterized in that, comprise the steps:
(1) according to supplier's handbook, extract cad model and drive parameter and dynamic analysis parameter, and building database;
Described cad model drives parameter to comprise: the main driving parameter of part modeling, for driving the modeling of part; Part modeling order drives parameter, for determining the main driving parameters relationship of modeling sequentially and between part of part;
(2) according to database-driven parameter, the CAD Parametric geometric model of corresponding feed screw nut assembly is set up;
(3) according to feed screw nut dimensional parameters, in finite element analysis software, the screw pair kinetic model of simplification is set up;
(4) by CAD and CAE software secondary development, from database, extract feed screw nut assembly finite element analysis parameter, utilize the command stream language of finite element analysis software, be loaded on screw pair kinetic model.
2. a kind of feed screw nut database building method towards lathe finite element analysis according to claim 1, is characterized in that, the main driving parameter of the part modeling described in step (1) comprises: leading screw drives parameter to be leading screw diameter and leading screw length; Nut drives parameter to be nut internal diameter; Bearing drives parameter to be bearing bore diameter; Bearing seat drives parameter and motor cabinet to drive parameter to be bearing seat inner diameter.
3. a kind of feed screw nut database building method towards lathe finite element analysis according to claim 1, it is characterized in that, part modeling order driving parameter described in step (1) is: leading screw diameter drive nut internal diameter, leading screw axle head diameter driving bearing internal diameter, bearing outside diameter driving shaft seat inner diameter and motor cabinet internal diameter; According to assembly relation, the main driving parameter of the part of rear modeling is determined according to the corresponding parameter of the part of first modeling.
4. a kind of feed screw nut database building method towards lathe finite element analysis according to claim 1, it is characterized in that, the dynamic analysis parameter described in step (1) comprises material properties and Complexed Prostate Specific Antigen, for finite element analysis; Wherein, material properties comprises density, elastic modulus, Poisson ratio, thermal expansivity and pyroconductivity; Complexed Prostate Specific Antigen comprises: bearing pair rigidity and damping, pair of nut rigidity and damping.
5. a kind of feed screw nut database building method towards lathe finite element analysis according to claim 1, is characterized in that, the CAD Parametric geometric model process setting up corresponding feed screw nut assembly described in step (2) is as follows:
1) drive parameter database according to part, determine the modeling order of each part: leading screw → nut/bearing → motor cabinet/bearing seat, the part of first modeling drives the part of rear modeling;
2) according to part model dimensional parameters database, leading screw, nut, bearing, motor cabinet and bearing seat CAD geometric model is set up;
3) according to feed screw nut assembled relation, feed screw nut assembled model is generated.
6. a kind of feed screw nut database building method towards lathe finite element analysis according to claim 1, it is characterized in that, the screw pair kinetic model setting up simplification in finite element analysis software described in step (3), extract to drive parameter from database, utilize the point, line, surface order of the command stream language of finite element analysis software, set up the equivalent model simplified, for finite element analysis.
7. a kind of feed screw nut database building method towards lathe finite element analysis according to claim 6, it is characterized in that, the driving parameter of described cad model comprises: leading screw length, diameter, nut installed surface size, motor cabinet and bearing seat size.
8. a kind of feed screw nut database building method towards lathe finite element analysis according to claim 6, it is characterized in that, the equivalent model of described simplification is as follows:
1) leading screw is reduced to a beam element, its diameter is identical with the diameter of leading screw cad model, and length is identical with the length of leading screw cad model;
2) bearing in bearing seat is reduced to first node unit, and overlaps with the end points of the installation shaft bearing of leading screw, be then connected with this end points by clutch shaft bearing rigidity unit, clutch shaft bearing rigidity unit adds X, Y, Z tri-axial rigidities and damping value; In like manner, the bearing in motor cabinet is reduced to Section Point unit, overlaps with the end points of the mounted motor seat of leading screw, and be connected with this end points by the second bearing rigidity unit, the second bearing rigidity unit adds X, Y, Z tri-axial rigidities and damping value;
3) bearing seat and motor cabinet are reduced to the first shell unit and the second shell unit respectively, and be connected with first node unit and Section Point unit by a Mean unit and the 2nd Mean unit are corresponding respectively, a Mean unit and the 2nd Mean unit represent that the displacement correspondence of first node unit and Section Point unit gets the mean value of the first shell unit and the second shell unit displacement respectively;
4) nut portion is represented by rolling body and nut installed surface; Rolling body is represented by the 3rd node unit, overlaps with the node of correspondence position on leading screw, and both are connected by the 3rd bearing rigidity unit, can add X, Y, Z tri-axial rigidities and damping value;
5) nut installed surface is reduced to the 3rd shell unit, is connected by the 3rd Mean unit with the 3rd node unit, the 3rd Mean unit represents that the mean value of the 3rd shell unit displacement is got in the displacement of the 3rd node unit.
9. a kind of feed screw nut database building method towards lathe finite element analysis according to claim 1, it is characterized in that, analytical parameters described in step (4) comprises: 1) each part material attribute: density, elastic modulus, Poisson ratio, thermal expansivity and pyroconductivity, is added on each part model; 2) kinetic parameter: the rigidity of the rigidity of bearing pair and damping value, pair of nut and damping value, be added on the bearing rigidity linkage unit of equivalent model.
10. a kind of feed screw nut database building method towards lathe finite element analysis according to claim 1, it is characterized in that, by finite element analysis software secondary development program, finite element analysis parameter is extracted from database, finite element analysis parameter is loaded in feed screw nut equivalence CAE model by the command stream language of application finite element analysis software automatically, is the design of lathe and providing support of simulation analysis.
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| CN107727141A (en) * | 2017-09-28 | 2018-02-23 | 河南汇纳科技有限公司 | A kind of application process for the intelligence sensor that multiple target perceives |
| CN109766641A (en) * | 2018-11-30 | 2019-05-17 | 中国航空工业集团公司沈阳飞机设计研究所 | The multiple physical field CAE modeling method that knowledge based reuses |
| CN110046413A (en) * | 2019-04-03 | 2019-07-23 | 中国科学院西安光学精密机械研究所 | A kind of dynamic analysis method for lead screw guide rails formula space focusing platform |
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