Study On Active Balancing Of Spatial RSSR Mechanism

At present,the mechanical industry is developing towards the direction of light-weight and high-speed,the accompanying inertia effect is becoming more and more obvious,and the resulting influence of noise and vibration are very harmful.In order to reduce or even eliminate the adverse effect to to meet the needs of high speed and precision in the machinery industry,it's more and more important to make further study of balancing problems and to seek better ways to improve dynamic performance of the mechaisms.Taking the RSSR spatial mechanism as the reference mechanism,both passive balancing method and active balancing method were studied,and the effectiveness of active balancing method was verified.Further,the balancing problem was studied from the view of mechanical vibration,and the correctness of the conclusion was verified.Specific research includes:Firstly,kinematic and dynamic analysis of the RSSR mechanism were carried out.A specific RSSR mechanism used in a kind of narrow-fabric needle loom was balanced by adding symmetric mechanism and counterweight,two kind of passive balancing methods,and the problems of passive balancing method were pointed out.Secondly,according to the working principle and design method of the active balancing,the RSSR mechanism was banlanced by actve balancing method.Two sets of active balancing mechanisms were proposed and designed based on the differential gear train and the RSSRR mechanism respectively.The necessity of active balancing was obtained through the comparison of the effects of active balancing and passive balancing.Thirdly,the vibration model of the system was established.The natural frequency and the main vibration mode of the system were calculated,and the relation between vibration response and excitation force(exciting moment)was derived.Based on this,the influence of the speed trajectories of control motor on the system vibration in active balancing mechanism was studied,and the flexible adjustment function of active balancing mechanism was verified.Finally,according to the results of optimization design,the test-bed was designed.The three-dimensional model was established and the simulation was carried out by ADAMS software and the correctness of the theoretical calculation was verified.In this paper,the active balancing method is extended to the spatial mechanism,and the active balancing of the spatial linkages is studied from the perspective of theory and simulation.The conclusions obtained provide a theoretical and practical basis for the improvement of the dynamic performance of the spatial mechanism and the further study of active balancing.