| CNC connecting rod mechanism is the product of multi-discipline integration,which is the future development trend of modern mechanism.The robot mechanism can achieve the gravity balance of the robot through the change of the position of the motor.However,the gravity balance mode makes the overall balance characteristics of the robot change with the change of the position of the motor,so it is necessary to study the change of the balance characteristics of the robot.At the same time,with the increase of the running speed of the mechanism,the flexible deformation of the rod can not be ignored,so it is also important to analyze the stability of the mechanism in the process of movement.Firstly,taking a CNC linkage mechanism robot proposed by the research group as the research object,the change of the center of mass of each position in the robot workspace was analyzed,and the overturning moment was used as the evaluation index to explore the static balance of the CNC linkage mechanism robot.Using the inertia force as the evaluation index,the change of the inertia force in the working process of the robot is analyzed,and the dynamic balance of the robot is explored.And compare it with industrial robots of the same type.In order to further enhance the balance characteristics of the robot,genetic algorithm is used to obtain the optimal length of the branch link with the length of the branch link as the design variable,the minimum of the total sexual force as the objective function,and the length of the branch link as the constraint condition.Secondly,a beam element is introduced to build the finite element model of the CNC linkage mechanism robot.In order to reduce the calculation amount,the main chain is considered as a rigid body,and the branch chain is considered as a beam element.Then,Newmark method is used to solve the dynamics model,taking a certain motion process of the robot as an example,MATLAB is applied to numerical simulation of the end response,and the results of numerical simulation are compared with those of other dynamics models.ADAMS was used to simulate the dynamics of the mechanism,and the simulation results were compared with the numerical simulation results to verify the accuracy and convenience of the dynamic model.Finally,the stability of CNC linkage mechanism robot is analyzed based on Lyapunov index method and moving phase diagram,the correlation coefficient of phase space reconstruction of time series is determined by C-C method,the Lyapunov index is calculated by small data quantity method,and the motion stability of the mechanism under different input speed is analyzed by Lyapunov index method and moving phase diagram. |
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