CN115146409A - Rigid-flexible coupling dynamics simulation method of gantry type double-shaft linear motion platform - Google Patents
Rigid-flexible coupling dynamics simulation method of gantry type double-shaft linear motion platform Download PDFInfo
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- CN115146409A CN115146409A CN202210808543.0A CN202210808543A CN115146409A CN 115146409 A CN115146409 A CN 115146409A CN 202210808543 A CN202210808543 A CN 202210808543A CN 115146409 A CN115146409 A CN 115146409A
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- G06F30/17—Mechanical parametric or variational design
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- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
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Abstract
The invention discloses a rigid-flexible coupling dynamics simulation method of a gantry type double-shaft linear motion platform, which relates to the field of dynamics simulation analysis and comprises the following steps: geometric processing; dividing a unit grid: modeling a finite element flexible body; material property setting: defining material characteristics for a gantry type double-shaft linear motion platform; node setting: establishing an interface node used in ADAMS, and carrying out rigid processing on the node; and (3) converting the model file: the MNF file is generated, imported into ADAMS and read; establishing a kinematic relationship; establishing a load; introducing kinematics and kinetic parameters; performing strain stress simulation calculation; and (5) vibration simulation analysis. The invention has the advantages that: a rigid-flexible coupling dynamic model is established based on ADAMS and ANSYS environments, and for dynamic strain stress simulation calculation and vibration simulation analysis of a gantry type biaxial linear motion platform, research and development cost can be reduced, research and development period can be shortened, product design quality can be improved, and high economic benefits can be achieved.
Description
Technical Field
The invention relates to the field of dynamics simulation analysis, in particular to a rigid-flexible coupling dynamics simulation method for a gantry type double-shaft linear motion platform.
Background
In the design process of the gantry type double-shaft linear motion platform, in order to guarantee the accuracy requirements such as the straightness accuracy and the positioning accuracy of a guide rail in the operation process of a platform body, the rigidity of the platform body during dynamic motion needs to be checked in the design stage, the strain value of the platform body is guaranteed to be within an allowable range, otherwise, complete strain gauges and other matched data equipment need to be purchased for analysis when the real object measurement and correction are carried out in the later stage, and if the requirements are not met, the real object transformation is difficult to carry out, and manpower and material resources are consumed.
Disclosure of Invention
In order to solve the technical problems, the technical scheme provides a rigid-flexible coupling dynamics simulation method for the gantry type double-shaft linear motion platform, can realize dynamic strain stress simulation calculation and vibration simulation analysis on the gantry type double-shaft linear motion platform, can reduce research and development cost, shortens research and development period, improves product design quality, and has high economic benefit.
In order to achieve the purpose, the invention adopts the technical scheme that:
a rigid-flexible coupling dynamics simulation method of a gantry type double-shaft linear motion platform comprises the following steps:
geometric processing, namely model simplification based on a three-dimensional model of a gantry type double-shaft linear motion platform, wherein only main bearing parts of a sliding block and a base platform for load installation are reserved due to the fact that deformation of the sliding block to a guide rail and the platform body in the motion process is mainly analyzed, so that some redundant parts are deleted in the three-dimensional model, and only the platform body and the X are reserved 0 Guide rail and Y 0 A guide rail, which is led into ANSYS for pretreatment modeling;
dividing unit meshes, namely performing 3D entity mesh unit division according to the structural characteristics of a three-dimensional model of the gantry type biaxial linear motion platform, and modeling a finite element flexible body;
setting material characteristics, and defining the material characteristics for the gantry type double-shaft linear motion platform;
setting nodes, namely establishing interface nodes used in ADAMS, carrying out rigidity treatment on the established interface nodes and preparing for subsequent modeling on a flexible body;
converting the model file, and leading the generated MNF file into ADAMS for reading;
establishing a kinematic relationship, establishing a slider mass unit and guide rails for connection at the starting position points of the sliders on the two guide rails according to the working operation condition of the actual table body, establishing a linear motion pair of an X-axis rigid slider and a Y-axis rigid slider, establishing linear drive on the motion pair, establishing an elastic supporting force element below the whole table body, setting the same mechanical parameters as the physical vibration isolator, and fixedly connecting a bracket below the whole elastic force element with the ground;
establishing load, setting the mass of a sliding block unit according to the weight of an actual sliding block, and setting other boundary conditions according to actual conditions for the main load of the whole platform body;
introducing kinematics and dynamics parameters, setting a motion function of an X-axis rigid slide block and/or a Y-axis rigid slide block, and completing the modeling of the whole rigid-flexible coupling dynamics;
performing strain stress simulation calculation, namely measuring a strain stress value at a position influencing the precision of a user through a measurement function in ADAMS (automatic dynamic analysis and analysis system), setting a solving step length and setting solving time according to a stroke on the basis of the established rigid-flexible coupling dynamics simulation model;
after the rigid-flexible coupling dynamic model is established, a pre-balancing position is needed to be performed due to the fact that an elastic support is arranged below the rigid-flexible coupling dynamic model, and the simulation initial position of the whole platform body is set to be a supporting balancing position;
and (3) vibration simulation analysis, namely performing frequency domain vibration analysis through a vibration module in the ADAMS based on the established rigid-flexible coupling dynamics simulation model.
Preferably, the model for solid grid cell division in the cell grid division comprises a stage body and an X 0 Guide rail and Y 0 A guide rail.
Preferably, in the material setting, the guide rail and the base are defined by marble material characteristics, and the slider is defined by aluminum alloy material characteristics.
Preferably, in the node setting, the established interface node includes an elastic vibration isolation supporting position of the whole table body, starting position points of the two guide rails contacting with the sliding block, and dangerous position points to be measured on the whole base station.
Preferably, the strain stress simulation calculation includes the following steps:
setting strain parameters and gravitational acceleration of the measuring table body;
solving step length setting, selecting proper calculation step length to check and solve the problem;
and setting a motion working condition, operating the model and obtaining a calculation result.
Preferably, the vibration simulation analysis includes the following steps:
establishing an input channel, and setting a vibration exciter approaching to the actual condition;
setting the type and the excitation direction of a vibration exciter;
establishing an output channel, a channel type and a channel direction;
and setting vibration analysis working conditions, setting excitation frequency sweep range and step length, and operating vibration analysis.
Preferably, the specific method of the vibration simulation analysis is as follows:
when the simulation is started, the sliding block moves back and forth on the two guide rails at the same time, the measuring points display the strain change of the measuring points in real time, and after a simulation result is obtained, the result is processed to obtain the required results such as the frequency response curve of the table body.
Compared with the prior art, the invention has the advantages that:
the dynamic strain stress simulation calculation and vibration simulation analysis of the gantry type double-shaft linear motion platform can be realized, the dynamic response simulation of the gantry type double-shaft linear motion platform can be realized, the rigidity of the gantry type double-shaft linear motion platform during dynamic motion can be checked in the design stage, the strain value of the platform body is guaranteed to be within an allowable range, the research and development cost is further reduced, the research and development period is shortened, the product design quality is improved, and the high economic benefit is achieved.
The scheme can carry out vibration simulation analysis on the whole platform body, and vibration isolation system design is pertinently carried out by analyzing the vibration data result.
Drawings
FIG. 1 is a schematic flow chart of a simulation method proposed in the present invention;
FIG. 2 is a model diagram of a gantry type biaxial linear motion platform according to the present invention;
FIG. 3 is a simplified model diagram of a gantry-type biaxial linear motion platform according to the present invention;
FIG. 4 is a schematic diagram of a model after meshing according to the present invention;
FIG. 5 is a schematic diagram of interface nodes and their export to ADAMS in the present invention;
FIG. 6 is a schematic diagram of a model after the elastic support, X-axis and Y-axis rigid sliders are built in the invention;
FIG. 7 is a diagram illustrating the setting of a motion function according to the present invention;
FIG. 8 is a diagram illustrating the success of the pre-balancing and the setting of the motion function in the present invention;
FIG. 9 is a schematic diagram of a simulation calculation;
FIG. 10 is a vertical deformation line diagram of a marble slab in the working condition 1 state in the example;
FIG. 11 shows X in the working condition 1 of the example 0 A vertical deformation line graph of the guide rail;
FIG. 12 shows X in the working condition 1 of the example 0 A transverse deformation line graph of the guide rail;
FIG. 13 is a setting interface of the load motion function of the working condition 2Y axis in the embodiment;
FIG. 14 is a vertical deformation line diagram of a marble slab in the working condition 2 state in the example;
FIG. 15 shows an embodimentExample X in working Condition 2 State 0 A vertical deformation line graph of the guide rail;
FIG. 16 shows X in the state of working condition 2 in the example 0 A transverse deformation line graph of the guide rail;
FIG. 17 is a schematic diagram of the first seven natural frequencies of the stage;
FIG. 18 is a diagram of a set sweep excitation interface;
FIG. 19 is a diagram of a set output response interface;
FIG. 20 is a chart of a vibration analysis set frequency range interface;
FIG. 21 is a frequency response curve under a lateral sweep;
fig. 22 is a frequency response curve under a vertical frequency sweep.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
Referring to fig. 1, a rigid-flexible coupling dynamics simulation method for a gantry type biaxial linear motion platform is characterized by comprising the following steps:
geometric processing: based on the three-dimensional model of the gantry type biaxial linear motion platform shown in fig. 2, model simplification shown in fig. 3 is carried out, and only the main bearing part of the slide block and the base platform for load installation are reserved due to the fact that deformation of the guide rail and the platform body in the motion process of the slide block is mainly analyzed, so that some redundant parts are deleted from the three-dimensional model, and only the platform body 1 and the platform body X are reserved 0 Guide rails 2 and Y 0 A guide rail 3 which is led into ANSYS for pretreatment modeling;
dividing a unit grid: according to the three-dimensional model structure characteristics of the gantry type double-shaft linear motion platform, the platform body 1 and the platform body X are aligned 0 Guide rails 2 and Y 0 The guide rail 3 is divided into 3D entity mesh units, and finite element flexible body modeling is carried out, and the result is shown in figure 4;
material property setting: defining the characteristics of marble materials for the guide rail and the base platform, and defining the characteristics of aluminum alloy materials for the slide block;
node setting: establishing interface nodes used in ADAMS, wherein the established interface nodes comprise elastic vibration isolation supporting positions of the whole platform body, initial position points which are in contact with the sliding blocks on the two guide rails and dangerous position points which need to be measured on the whole base platform, and 10 interface nodes in total, and performing rigidization treatment on the nodes to prepare for subsequent modeling on the flexible body;
and (3) converting the model file: after the unit is set, an MNF file is generated through an interface for outputting ADAMS in ANSYS and is imported into ADAMS for reading, and schematic diagrams of node setting and file import ADAMS are shown in FIG. 5;
establishing a kinematic relationship, establishing a slider mass unit and guide rails for connection at the starting position points of the sliders on the two guide rails according to the working operation condition of the actual table body, establishing a linear motion pair of an X-axis rigid slider and a Y-axis rigid slider, establishing linear drive on the motion pair, establishing an elastic supporting force element below the whole table body, setting the same mechanical parameters as the physical vibration isolator, and fixedly connecting a bracket below the whole elastic force element with the ground;
establishing load, setting the mass of a sliding block unit as the main load of the whole platform body according to the weight of an actual sliding block, and setting other boundary conditions according to actual conditions, wherein the set structure is shown in FIG. 6;
introducing kinematics and dynamics parameters, setting a motion function of an X-axis rigid sliding block and/or a Y-axis rigid sliding block, and completing the whole rigid-flexible coupling dynamics modeling, wherein a model schematic diagram after function setting is shown in FIG. 7;
and (3) strain stress simulation calculation: based on the established rigid-flexible coupling dynamics simulation model, measuring a strain stress value at a position influencing the user precision through a measurement function in ADAMS, setting a solving step length, and setting solving time according to a stroke;
as shown in fig. 8-9, the strain stress simulation calculation includes the following specific steps: setting strain parameters and gravitational acceleration of the measuring table body; after the rigid-flexible coupling dynamic model is established, a pre-balancing position is needed to be performed due to the fact that an elastic support is arranged below the rigid-flexible coupling dynamic model, and the simulation initial position of the whole platform body is set to be a supporting balancing position; solving step length setting, selecting proper calculation step length to check and solve the problem; setting a motion working condition, operating the model, and obtaining a calculation result;
in this embodiment, the following states are set for simulation:
working condition 1 at X 0 The guide rail 2 is provided with a slide block motion mode, and the motion function is set as follows:
v＝5000t 0≤t≤0.2
v＝1000 0.2≤t≤4.2
v＝1000-5000(t-3.4) 4.2≤t≤4.4
v＝-1000 4.4≤t≤4.6
v＝-1000+5000(t-6.6) 8.6≤t≤8.8
in condition 1, X 0 A motion cycle loaded on the guide rail 2 is divided into five stages, the motion cycle is accelerated to the maximum speed, the uniform motion is carried out, the speed is reduced to 0, the reverse acceleration is carried out to the maximum speed, the uniform motion is carried out, the speed is reduced to 0, the whole stroke is 4.2m, the cycle is 8.8s, the whole working interval is covered, the motion cycle is basically consistent with the actual motion working condition, the greater the speed and the acceleration are, the worse the dynamic behavior of the whole platform body is, the greater the dynamic load caused to the platform body is, the maximum acceleration is carried out in the acceleration and deceleration process, the required strain is calculated, the vertical deformation broken line diagram of the marble flat plate under the detection working condition 1 state is recorded and shown in figure 10, and the X under the working condition 1 state is 0 The vertical deformation line diagram of the guide rail 2 is shown in fig. 11; x in Condition 1 0 The transverse deformation line of the guide rail 2 is shown in fig. 12.
Working condition 2, increasing Y on the basis of the movement of the working condition 1 0 The maximum acceleration of the movement of the load on the guide rail 3 is 0.25g, and the maximum speed is 500mm/s. Accelerating to the maximum speed at the maximum acceleration, then uniformly moving at the maximum speed, then decelerating to 0, covering the stroke of 350mm, and the period is X 0 The load on the guide rail 2 begins to make a round trip for a period from the starting point, the period is 8.8s 0 The setting of the load motion function of the guide rail 3 is shown in fig. 13, and since the double-slider motion calculation is very complicated, the calculation step length is set to 0.0005s, and the 2-state detection condition is recordedThe vertical deformation line of the marble slab in the state is shown in FIG. 14, and X in the state of working condition 2 0 The vertical deformation line of the guide rail 2 is shown in FIG. 15; x in State 2 0 The transverse deformation line of the guide rail 2 is shown in FIG. 16
Vibration simulation analysis: performing frequency domain vibration analysis through a vibration module in ADAMS based on the established rigid-flexible coupling dynamics simulation model;
the vibration simulation analysis comprises the following specific steps: establishing an input channel, and setting a vibration exciter approaching to the actual condition; setting the type and the excitation direction of a vibration exciter; establishing an output channel, a channel type and a channel direction; and setting vibration analysis working conditions, setting excitation frequency sweep range and step length, and operating vibration analysis.
The Vibration simulation analysis firstly needs to obtain the natural frequency of the structure, generally only needs to analyze the first six-order natural frequency, and then obtains the first seven-order natural frequency under the rigid support of the platform body through modal analysis, as shown in fig. 17, the first-order natural frequency of the platform body structure is about 50HZ, then the platform body is subjected to frequency sweep analysis to find the excitation point of the structure under the elastic support, vibration analysis in ADAMS is carried out through a vibrancion module of ADAMS, as shown in fig. 18-20, an input frequency sweep excitation function is set, the action point is the initial position of the sliding block on the X0 guide rail 2, vibration analysis is carried out, fig. 21-22 are respectively a frequency response curve under transverse frequency sweep and a frequency response curve under vertical frequency sweep, from fig. 21-22, downward excitation in two directions can be seen, the resonance point of the platform body flat plate and the X0 guide rail 2 response is basically kept between 2.5HZ and 3.5HZ, the whole platform body is subjected to Vibration simulation analysis, and the Vibration isolation system design can be carried out in a targeted manner through analyzing the Vibration data result.
In summary, the invention has the advantages that: a rigid-flexible coupling dynamics model is established based on ADAMS and ANSYS environments, and for dynamic strain stress simulation calculation and vibration simulation analysis of a gantry type biaxial linear motion platform, research and development cost can be reduced, research and development period can be shortened, product design quality can be improved, and high economic benefits can be achieved.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A rigid-flexible coupling dynamics simulation method of a gantry type double-shaft linear motion platform is characterized by comprising the following steps:
geometric processing, namely model simplification is carried out based on a three-dimensional model of a gantry type double-shaft linear motion platform, only main bearing parts of a sliding block and a base platform for load installation are reserved due to the fact that deformation of the sliding block to a guide rail and the platform body in the motion process is mainly analyzed, and therefore some redundant parts are deleted from the three-dimensional model, and only the platform body (1) and the platform body (X) are reserved 0 Guide rail (2) and Y 0 A guide rail (3) which is introduced into ANSYS for pretreatment modeling;
dividing unit meshes, namely performing 3D entity mesh unit division according to the structural characteristics of a three-dimensional model of the gantry type biaxial linear motion platform, and modeling a finite element flexible body;
setting material characteristics, and defining the material characteristics for the gantry type double-shaft linear motion platform;
setting nodes, namely establishing interface nodes used in ADAMS, carrying out rigidity treatment on the established interface nodes and preparing for subsequent modeling on a flexible body;
converting the model file, and leading the generated MNF file into ADAMS for reading;
establishing a kinematic relationship, establishing a slider mass unit and guide rails for connection at the starting position points of the sliders on the two guide rails according to the working operation condition of the actual platform body, establishing a linear motion pair of an X-axis rigid slider and a Y-axis rigid slider, establishing linear drive on the motion pair, establishing an elastic supporting force element below the whole platform body, setting the same mechanical parameters as the physical vibration isolator, and fixedly connecting a bracket below the whole elastic force element with the ground;
establishing load, setting the mass of a sliding block unit according to the weight of an actual sliding block, and setting other boundary conditions according to actual conditions for the main load of the whole platform body;
introducing kinematics and dynamics parameters, setting a motion function of an X-axis rigid slide block and/or a Y-axis rigid slide block, and completing the modeling of the whole rigid-flexible coupling dynamics;
performing strain stress simulation calculation, namely measuring a strain stress value at a position influencing the precision of a user through a measurement function in ADAMS (automatic dynamic analysis and analysis system), setting a solving step length and setting solving time according to a stroke on the basis of the established rigid-flexible coupling dynamics simulation model;
after the rigid-flexible coupling dynamic model is established, a pre-balancing position is needed to be performed due to the fact that an elastic support is arranged below the rigid-flexible coupling dynamic model, and the simulation initial position of the whole platform body is set to be a supporting balancing position;
and (3) vibration simulation analysis, namely performing frequency domain vibration analysis through a vibration module in the ADAMS based on the established rigid-flexible coupling dynamics simulation model.
2. The rigid-flexible coupling dynamic simulation method of the gantry type biaxial linear motion platform as claimed in claim 1, wherein the model for solid grid unit division in the unit grid division comprises a stage body (1), X 0 Guide rail (2) and Y 0 A guide rail (3).
3. The rigidity-flexibility coupling dynamics simulation method for the gantry type biaxial linear motion platform as claimed in claim 1, wherein in the material setup, marble material characteristics are defined for the guide rail and the base, and the slide block is defined as aluminum alloy material characteristics.
4. The rigidity-flexibility coupling dynamics simulation method of the gantry type biaxial linear motion platform as claimed in claim 1, wherein in the node setup, the established interface node includes an elastic vibration isolation supporting position of the whole platform body, starting position points of the two guide rails contacting with the sliding block, and dangerous position points to be measured on the whole base platform.
5. The rigid-flexible coupling dynamic simulation method of the gantry type biaxial linear motion platform as claimed in claim 1, wherein the strain stress simulation calculation comprises the following steps:
setting strain parameters and gravitational acceleration of the measuring table body;
solving step length setting, selecting proper calculation step length to check and solve the problem;
and setting a motion working condition, operating the model and obtaining a calculation result.
6. The rigid-flexible coupling dynamic simulation method of the gantry type biaxial linear motion platform as claimed in claim 1, wherein the vibration simulation analysis comprises the following steps:
establishing an input channel, and setting a vibration exciter approaching to the actual condition;
setting the type and the excitation direction of a vibration exciter;
establishing an output channel, a channel type and a channel direction;
and setting vibration analysis working conditions, setting an excitation frequency sweep range and step length, and operating vibration analysis.
7. The rigid-flexible coupling dynamics simulation method of the gantry type biaxial linear motion platform according to claim 6, wherein the specific method of the vibration simulation analysis is as follows:
when the simulation is started, the sliding block moves back and forth on the two guide rails at the same time, the measuring points display the strain change of the measuring points in real time, and after a simulation result is obtained, the result is processed to obtain the required results such as the frequency response curve of the table body.
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| CN116341136A (en) * | 2023-03-21 | 2023-06-27 | 中国农业大学 | Engine crankshaft optimization design method |
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| CN116341136A (en) * | 2023-03-21 | 2023-06-27 | 中国农业大学 | Engine crankshaft optimization design method |
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