Research On The Key Technology Of Mechanical Buckling And Bionic Buckling Mechanism

With the advancement of science technology and the development of industry,China's manufacturing industry has achieved remarkable achievements.The constraints on resources and environment has been continuously strengthened.The cost of production factors such as the labor force is accelerating.Adjustment of the structure,transformation and upgrading,and improvement of quality and efficiency have become the main goals of economic development.Intelligent manufacturing is the main way to overcome the bottleneck of development in china.For example,In China's liquor making industry,most of the enterprises in the Maotai flavor liquor mainly made by artificial trample,to ensure the quality of the Daqu.However,the production efficiency of Daqu is low,and the labor intensity of workers is relatively high and the existing mechanical equipment cannot meet the required quality of the Daqu.It is of great significance for the liquor industry to develop a mechanism for making mechanical tracks that mimics the artificial movement of music.In this paper,the bionic buckling mechanism is the object of study.The three-dimensional motion capture system is used to collect artificially stepping motion samples,and bionic buckling is performed from the “bionics” perspective to study design,kinematics,dynamics,and control.In this paper,the three-dimensional motion capture system is firstly used to artificially step on the music acquisition,after the three-dimensional motion data is re-directed and matched,the spatial motion information of the marker points is converted into spatial motion information of the human joints.Based on the inverse kinematics,the three-dimensional coordinates of the absolute space of each joint are solved.The angular displacement of each joint with time is calculated by combining the geometric analysis method.Secondly,by analyzing the influence of the change of the angular displacement of each joint in the artificially stepping movement,the three-dimensional model of the bionic buckling mechanism and the corresponding dynamic model is established.Based on the D-H method and Newton-Euler recursive algorithm,the kinematic analysis and dynamic analysis of the kinetic model were performed.Finally,the simulation of the bionic press is combined with ADAMS and MATLAB,and the three-spline method is used to simulate the motion of the artificial bending motion.MATLAB performed the motion control and the control law is used to decompose the movement control model of the bionic buckling mechanism to realize the artificially stepping movement of the bionic buckling mechanism.By using the joint simulation method,the kinematics,dynamics,and contact force of the foot of the bionic buckling mechanism is obtained,which provided an important basis for the establishment of the bionic buckling mechanism control program.