CN103530272A - Determining method used for defining mechanism motion high-speed area - Google Patents
Determining method used for defining mechanism motion high-speed area Download PDFInfo
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Abstract
The invention discloses a determining method used for defining a mechanism motion high-speed area. The method comprises the following steps: a vibration mode frequency which has the greatest impact on mechanism motion is selected and used as a mechanism inherent frequency; the frequency of a main frequency spectrum is selected to represent a motion frequency; flexible many-body dynamic simulation is conducted on a mechanism to calculate the maximum residual vibration amplitudes corresponding to different motion frequency characteristic motion curves; a relation curve between a frequency ratio and the maximum residual vibration amplitudes is established; according to the relation curve, it is determined that design and analysis are conducted on a mechanism system used as a flexible many-body dynamic system and researches are conducted on the mechanism system used as a rigid body dynamic system. According to the determining method used for defining the mechanism motion high-speed area, the high-speed motion range of the researched mechanism is determined according to the driving frequency and inherent frequency of the mechanism, and it is avoided that a design method based on experience has the problem that the mechanism is complex in design and high in cost and has design hidden dangers; besides, the determining method used for defining the mechanism motion high-speed area is simple and accurate.
Description
Technical field
The invention belongs to the mechanism design technical field of digital manufacturing equipment, relate in particular to a kind of for defining the method for discrimination of mechanism kinematic high-speed region.
Background technology
There are two kinds of Design and analysis methods in the mechanism design field of numeral manufacturing equipment: ①Jiang mechanism analyzes design as rigidity multi-body system, in design analysis process, supposes that each parts of mechanism do not deform, ②Jiang mechanism analyzes design as flexible multibody dynamics system, in design analysis process, consider the impact that mechanism part deforms, wherein method one is comparatively simple, and there is the design experiences of a large amount of maturations to use, design cost is relatively low, method two is comparatively complicated, need the design factor of consideration more, design cycle is also relatively long, design cost is relatively high, actual mechanism part all can deform, method one is in fact not consider the kinetic effect impact of mechanism part distortion, consider the factors such as cost, it is that the method one of rigid dynamics system is carried out design analysis that most numerical control equipment adopts supposition mechanism, theoretical based on High Speed Dynamics, when mechanism kinematic enters " at a high speed " region, moving component must be made flexible body hypothesis, form so-called " compliant mechanism " (flexible mechanism), now, due to problems such as the existence in gap between mechanism part and the rigid motion of parts and its elastic deformation couplings, kinetic model will be with variable coefficient, non-smooth, the Multiple nonlinearities even Higher Order Differential Equation group form of strong nonlinear term combination occurs, this brings very large difficulty to the solution of practical problems.
At present, in actual product design process, designer often comes decision mechanism whether to belong to " at a high speed " mechanism based on experience, determine whether to adopt flexible multibody dynamics theory to design, this design based on experience easily causes mechanism design personnel to occur the problem of conservative design or radical design, increased unnecessary design complexity and design cost, or there is larger design hidden danger in product.
Summary of the invention
It is a kind of for defining the method for discrimination of mechanism kinematic high-speed region that the object of the embodiment of the present invention is to provide, be intended to solve existing designer and whether belong to high-speed mechanism based on experience decision mechanism, easily cause mechanism design personnel to occur the problem of conservative design or radical design, increase unnecessary design complexity and design cost, make to exist the problem of larger design hidden danger.
The embodiment of the present invention is achieved in that a kind of for defining the method for discrimination of mechanism kinematic high-speed region, should comprise the following steps for defining the method for discrimination of mechanism kinematic high-speed region:
Choose vibration shape frequency that mechanism kinematic is had the greatest impact as mechanism's natural frequency;
The frequency of choosing dominant frequency spectrum represents motion frequency;
Mechanism carries out flexible multibody dynamics emulation, calculates the maximum residual oscillation amplitude of the corresponding mechanism of different motion frequency characteristic curve movement;
Set up the relation curve between frequency ratio and residual oscillation peak swing;
According to curve, train of mechanism is carried out to design analysis and rigid dynamics system as flexible multibody dynamics system and study and make a determination.
Further, should be as follows for defining the concrete steps of method of discrimination of mechanism kinematic high-speed region:
The first step, the frequency of Dynamic Substructure Mode Shape; Choose vibration shape frequency that mechanism kinematic is had the greatest impact as mechanism's natural frequency, choose 1000 times of following all frequencies comprising highest movement frequency as the frequency of Dynamic Substructure Mode Shape;
The motion process of second step ，Dui mechanism carries out frequency analysis, and the frequency of choosing dominant frequency spectrum represents motion frequency;
San Bu，Dui mechanism carries out flexible multibody dynamics emulation, calculates the maximum residual oscillation amplitude of the corresponding mechanism of different motion frequency characteristic curve movement;
The ratio of Si Bu，Yi mechanism natural frequency relative motion frequency is transverse axis, and the maximum residual oscillation amplitude of the corresponding mechanism of the motion frequency characteristic of take is the longitudinal axis, sets up the relation curve between frequency ratio and residual oscillation peak swing;
The 5th step, when train of mechanism to be studied is in the curve lower left of the 4th step gained, train of mechanism must be carried out design analysis as flexible multibody dynamics system; Otherwise, as rigid dynamics system, study.
Further, concrete model and the method for master mode, motion dominant frequency spectrum ratio and residual oscillation amplitude relation Drawing of Curve are:
The first step, carries out the calculating of master mode by mechanical component finite element model;
Second step, mechanism carries out simulation analysis by flexible multibody dynamics model, and the FFT conversion of curve movement, carries out parameter scanning, draws out Parametric motion curve;
The 3rd step, Parametric motion curve negotiating Dynamics Simulation Analysis and residual oscillation RESPONSE CALCULATION go out maximum residual oscillation amplitude;
The 4th step, residual oscillation peak swing obtains motion dominant frequency spectrum ratio through the FFT conversion of curve movement;
The 5th step, draws out master mode, motion dominant frequency spectrum ratio and residual oscillation amplitude relation curve.
Provided by the invention for defining the method for discrimination of mechanism kinematic high-speed region, by determine pointedly " at a high speed " range of movement of research institution of institute according to the positioning accuracy request of the natural frequency of the driving frequency of mechanism, mechanism and mechanism; Whether the present invention is " at a high speed " mechanism for mechanism for identifying, and then whether decision mechanism must design according to flexible multibody dynamics Systems Theory, the problem of having avoided the design based on experience easily to cause mechanism design complicacy and design cost to increase and have design hidden danger.In addition, the inventive method is simple, easy to operate, provides a kind of accurate for defining the method for discrimination of mechanism kinematic high-speed region.
Accompanying drawing explanation
Fig. 1 be the embodiment of the present invention provide for defining the process flow diagram of the method for discrimination of mechanism kinematic high-speed region.
Fig. 2 is the schematic diagram of the relation of soldering tip fork natural mode of vibration/motion principal component frequency ratio of providing of the embodiment of the present invention and residual oscillation amplitude.
Fig. 3 is concrete model and the method flow diagram of the master mode that provides of the embodiment of the present invention, motion dominant frequency spectrum ratio and residual oscillation amplitude relation Drawing of Curve.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Fig. 1 shows provided by the invention for defining the method for discrimination flow process of mechanism kinematic high-speed region.For convenience of explanation, only show part related to the present invention.
The embodiment of the present invention for defining the method for discrimination of mechanism kinematic high-speed region, should comprise the following steps for defining the method for discrimination of mechanism kinematic high-speed region:
Choose vibration shape frequency that mechanism kinematic is had the greatest impact as mechanism's natural frequency;
The frequency of choosing dominant frequency spectrum represents motion frequency;
Mechanism carries out flexible multibody dynamics emulation, calculates the maximum residual oscillation amplitude of the corresponding mechanism of different motion frequency characteristic curve movement;
Set up the relation curve between frequency ratio and residual oscillation peak swing;
According to curve, train of mechanism is carried out to design analysis and rigid dynamics system as flexible multibody dynamics system and study and make a determination.
As a prioritization scheme of the embodiment of the present invention, should be as follows for defining the concrete steps of method of discrimination of mechanism kinematic high-speed region:
The first step, the frequency of Dynamic Substructure Mode Shape; Choose vibration shape frequency that mechanism kinematic is had the greatest impact as mechanism's natural frequency, choose 1000 times of following all frequencies comprising highest movement frequency as the frequency of Dynamic Substructure Mode Shape;
The motion process of second step ，Dui mechanism carries out frequency analysis, and the frequency of choosing dominant frequency spectrum represents motion frequency;
San Bu，Dui mechanism carries out flexible multibody dynamics emulation, calculates the maximum residual oscillation amplitude of the corresponding mechanism of different motion frequency characteristic curve movement;
The ratio of Si Bu，Yi mechanism natural frequency relative motion frequency is transverse axis, and the maximum residual oscillation amplitude of the corresponding mechanism of the motion frequency characteristic of take is the longitudinal axis, sets up the relation curve between frequency ratio and residual oscillation peak swing;
The 5th step, when train of mechanism to be studied is in the curve lower left of the 4th step gained, train of mechanism must be carried out design analysis as flexible multibody dynamics system; Otherwise, as rigid dynamics system, study.
Further, concrete model and the method for master mode, motion dominant frequency spectrum ratio and residual oscillation amplitude relation Drawing of Curve are:
The first step, carries out the calculating of master mode by mechanical component finite element model;
Second step, mechanism carries out simulation analysis by flexible multibody dynamics model, and the FFT conversion of curve movement, carries out parameter scanning, draws out Parametric motion curve;
The 3rd step, Parametric motion curve negotiating Dynamics Simulation Analysis and residual oscillation RESPONSE CALCULATION go out maximum residual oscillation amplitude;
The 4th step, residual oscillation peak swing obtains motion dominant frequency spectrum ratio through the FFT conversion of curve movement;
The 5th step, draws out master mode, motion dominant frequency spectrum ratio and residual oscillation amplitude relation curve.
Below in conjunction with drawings and the specific embodiments, application principle of the present invention is further described.
As shown in Figure 1, comprising the following steps for defining the method for discrimination of mechanism kinematic high-speed region of the embodiment of the present invention:
S101: choose vibration shape frequency that mechanism kinematic is had the greatest impact as mechanism's natural frequency;
S102: the frequency of choosing dominant frequency spectrum represents motion frequency;
S103: mechanism carries out flexible multibody dynamics emulation, calculates the maximum residual oscillation amplitude of the corresponding mechanism of different motion frequency characteristic curve movement;
S104: set up the relation curve between frequency ratio and residual oscillation peak swing;
S105: according to curve, train of mechanism is carried out to design analysis and rigid dynamics system as flexible multibody dynamics system and study and make a determination.
Concrete steps of the present invention are as follows:
The first step, the frequency of Dynamic Substructure Mode Shape; Choose vibration shape frequency that mechanism kinematic is had the greatest impact as mechanism's natural frequency, choose 1000 times of following all frequencies comprising highest movement frequency as the frequency of Dynamic Substructure Mode Shape;
The motion process of second step ，Dui mechanism carries out frequency analysis, and the frequency of choosing dominant frequency spectrum represents motion frequency;
San Bu，Dui mechanism carries out flexible multibody dynamics emulation, calculates the maximum residual oscillation amplitude of the corresponding mechanism of different motion frequency characteristic curve movement;
The ratio of Si Bu，Yi mechanism natural frequency relative motion frequency is transverse axis, and the maximum residual oscillation amplitude of the corresponding mechanism of the motion frequency characteristic of take is the longitudinal axis, sets up the relation curve between said frequencies ratio and residual oscillation peak swing; As shown in Figure 2;
The 5th step, when train of mechanism to be studied is in the curve lower left of the 4th step gained, train of mechanism must be carried out design analysis as flexible multibody dynamics system; Otherwise, as rigid dynamics system, study;
Further, concrete model and the method for master mode, motion dominant frequency spectrum ratio and residual oscillation amplitude relation Drawing of Curve are:
The first step, carries out the calculating of master mode by mechanical component finite element model;
Second step, mechanism carries out simulation analysis by flexible multibody dynamics model, and the FFT conversion of curve movement, carries out parameter scanning, draws out Parametric motion curve;
The 3rd step, Parametric motion curve negotiating Dynamics Simulation Analysis and residual oscillation RESPONSE CALCULATION go out maximum residual oscillation amplitude;
The 4th step, residual oscillation peak swing obtains motion dominant frequency spectrum ratio through the FFT conversion of curve movement;
The 5th step, draws out master mode, motion dominant frequency spectrum ratio and residual oscillation amplitude relation curve.
As shown in Figure 2, it is the graph of a relation of soldering tip fork natural mode of vibration/motion principal component frequency ratio and residual oscillation amplitude, according to the feature of high speed light loading mechanism, ratio and positioning accuracy request from natural frequency and the motion frequency principal component of mechanism, with quantizating index, defined the definition (as Fig. 2 shadow region belongs to high velocity) of high speed machine, obtained die bond Welding head mechanism residual oscillation rule: when the ratio of natural frequency and motion predominant frequency is less than 100, residual oscillation amplitude is greater than 10 μ m (being positioning precision≤± 10 μ m); When ratio is between 100-300, the amplitude of residual oscillation is very large with stiffness effect, improves natural frequency, can significantly reduce residual oscillation; After ratio is greater than 300, the raising of natural frequency, residual oscillation amplitude is reduced not obvious, should consider motion planning and the end vibration damping raising positioning precision that improves, in addition, because the damping of fork material is smaller, vibration damping needs the time long, if main motion frequency is forward, allows the vibration of its generation have more die-away time, can further reduce residual oscillation amplitude, for speed planning provides theoretical direction.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (3)
1. for defining a method of discrimination for mechanism kinematic high-speed region, it is characterized in that, should comprise the following steps for defining the method for discrimination of mechanism kinematic high-speed region:
Choose vibration shape frequency that mechanism kinematic is had the greatest impact as mechanism's natural frequency;
The frequency of choosing dominant frequency spectrum represents motion frequency;
Mechanism carries out flexible multibody dynamics emulation, calculates the maximum residual oscillation amplitude of the corresponding mechanism of different motion frequency characteristic curve movement;
Set up the relation curve between frequency ratio and residual oscillation peak swing;
According to curve, train of mechanism is carried out to design analysis and rigid dynamics system as flexible multibody dynamics system and study and make a determination.
2. as claimed in claim 1ly for defining the method for discrimination of mechanism kinematic high-speed region, it is characterized in that, should be as follows for defining the concrete steps of method of discrimination of mechanism kinematic high-speed region:
The first step, the frequency of Dynamic Substructure Mode Shape; Choose vibration shape frequency that mechanism kinematic is had the greatest impact as mechanism's natural frequency, choose 1000 times of following all frequencies comprising highest movement frequency as the frequency of Dynamic Substructure Mode Shape;
The motion process of second step ，Dui mechanism carries out frequency analysis, and the frequency of choosing dominant frequency spectrum represents motion frequency;
San Bu，Dui mechanism carries out flexible multibody dynamics emulation, calculates the maximum residual oscillation amplitude of the corresponding mechanism of different motion frequency characteristic curve movement;
The ratio of Si Bu，Yi mechanism natural frequency relative motion frequency is transverse axis, and the maximum residual oscillation amplitude of the corresponding mechanism of the motion frequency characteristic of take is the longitudinal axis, sets up the relation curve between frequency ratio and residual oscillation peak swing;
The 5th step, when train of mechanism to be studied is in the curve lower left of the 4th step gained, train of mechanism must be carried out design analysis as flexible multibody dynamics system; When train of mechanism to be studied is in the curve lower right of the 4th step gained, as rigid dynamics system, study.
3. as claimed in claim 1ly for defining the method for discrimination of mechanism kinematic high-speed region, it is characterized in that, concrete model and the method for master mode, motion dominant frequency spectrum ratio and residual oscillation amplitude relation Drawing of Curve are:
The first step, carries out the calculating of master mode by mechanical component finite element model;
Second step, mechanism carries out simulation analysis by flexible multibody dynamics model, and the FFT conversion of curve movement, carries out parameter scanning, draws out Parametric motion curve;
The 3rd step, Parametric motion curve negotiating Dynamics Simulation Analysis and residual oscillation RESPONSE CALCULATION go out maximum residual oscillation amplitude;
The 4th step, residual oscillation peak swing obtains motion dominant frequency spectrum ratio through the FFT conversion of curve movement;
The 5th step, draws out master mode, motion dominant frequency spectrum ratio and residual oscillation amplitude relation curve.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104008250A (en) * | 2014-06-10 | 2014-08-27 | 广东工业大学 | Planning method of asymmetric variable acceleration based on optimal distribution in the time-domain of main frequency energy |
| CN106227149A (en) * | 2016-07-11 | 2016-12-14 | 广东工业大学 | A kind of galvanometer motor motion planning method shortening idle stroke positioning time |
| CN109048907A (en) * | 2018-08-23 | 2018-12-21 | 广东工业大学 | Eliminate the robot control method of inertia variation |
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| US6684168B1 (en) * | 1999-04-20 | 2004-01-27 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Body displacement and vibration analysis method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104008250A (en) * | 2014-06-10 | 2014-08-27 | 广东工业大学 | Planning method of asymmetric variable acceleration based on optimal distribution in the time-domain of main frequency energy |
| CN104008250B (en) * | 2014-06-10 | 2016-01-20 | 广东工业大学 | Based on the asymmetric fluctuating acceleration planing method of dominant frequency energy time domain Optimal Distribution |
| CN106227149A (en) * | 2016-07-11 | 2016-12-14 | 广东工业大学 | A kind of galvanometer motor motion planning method shortening idle stroke positioning time |
| CN106227149B (en) * | 2016-07-11 | 2018-10-19 | 广东工业大学 | A kind of galvanometer motor motion planning method shortening idle stroke positioning time |
| CN109048907A (en) * | 2018-08-23 | 2018-12-21 | 广东工业大学 | Eliminate the robot control method of inertia variation |
| CN109048907B (en) * | 2018-08-23 | 2020-10-16 | 广东工业大学 | Robot control method for eliminating inertia change |
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