【正文】 山東科技大學(xué)學(xué)士學(xué)位論文 I 摘 要 隨著科學(xué)技術(shù)的發(fā)展，機(jī)械行業(yè)正在向著高速，高精度，柔性自動(dòng)化方向發(fā)展。機(jī)械壓力機(jī)作為鍛冶機(jī)械的一個(gè)類(lèi)別，在工業(yè)生產(chǎn)中有著極其廣泛的應(yīng)用。當(dāng)壓力機(jī)的轉(zhuǎn)速不同，工作環(huán)境不同以及加工的工件形狀和力學(xué)特性不同時(shí)，它的受力和運(yùn)動(dòng)規(guī)律就不相同， 所以，鍛壓機(jī)械的運(yùn)動(dòng)學(xué)和力學(xué)性能研究一直是設(shè)計(jì)過(guò)程中的一個(gè)難點(diǎn)，也是設(shè)計(jì)人員必須解決的一個(gè)重點(diǎn)問(wèn)題?；旌向?qū)動(dòng)多連桿機(jī)械式壓力機(jī)的運(yùn)動(dòng)學(xué)和力學(xué)特性比傳統(tǒng)的機(jī)械式和液壓式壓力機(jī)的性能要復(fù)雜的多，因此，對(duì)其進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)態(tài)靜力學(xué)分析研究對(duì)于設(shè)計(jì)的成功性來(lái)說(shuō)就顯得尤為重要。 本文將混合驅(qū)動(dòng)九桿機(jī)械式壓力機(jī)根據(jù)其工作原理轉(zhuǎn)化成二自由度九 桿機(jī)構(gòu)，建立坐標(biāo)系后利用解析法求出該機(jī)構(gòu)的運(yùn)動(dòng)學(xué)方程，并運(yùn)用半角 正切 公式，解出滑塊在任意時(shí)刻的位移，速度，加速度表 達(dá)式。 選取合適的桿長(zhǎng)建立 ADAMS 模型，并 驗(yàn)證模型的正確性。 然后與傳統(tǒng) 的曲柄壓力機(jī)的位移、速度、加速度曲線(xiàn)進(jìn)行對(duì)比分析，得到多連桿壓力機(jī)的優(yōu)點(diǎn)，同時(shí)通過(guò)調(diào)整直流電機(jī)和伺服電機(jī)的輸入 特性，得到混合驅(qū)動(dòng)多連桿壓力機(jī)的柔性化特性。最后，建立系統(tǒng)的 靜力學(xué)方程， 并分析增力比特征。 關(guān)鍵詞： 混合驅(qū)動(dòng)； 九連桿 壓力機(jī) ； ADAMS； 運(yùn)動(dòng)學(xué) 山東科技大學(xué)學(xué)士學(xué)位論文 II ABSTRACT With the development of science and technology, mechanical industry is towards to high speed, high precision, flexible automation direction. As a category of smith machinery, mechanical press has extremely extensive application in industrial production. The force and the motion of the slider is different when the press is in different speed, different working environment, as well as the processing of the workpiece’s shape and mechanical properties. Therefore, the kinematics and mechanics research performance of the fing machinery has always been a difficulty in the process of design, and also as a key problem for designers . The kinematics and mechanics characteristics of the multilink press with hybriddriven mechanism is much more plex pared with the traditional mechanical press or the hydraulic press, therefore, it is important for the designer to carry on the kinematics and dynamic statics analysis. In this study, we transformed the press into Two degree of freedom of ninebar mechanism according to the working principle of the press, and established a coordinate system using analytic method, worked out the expression of displacement, variety and acceleration of the slider with the half Angle formula. Then, ADAMS model was established by choosing suitable length of the bar, and validate the correctness of the model. Then with the traditional crank press’ displacement, velocity and acceleration curves were analyzed, we got the advantages of ninebar press with hybriddriven mechanism. At the same time , we got the flexible characteristics of the press by adjusting the input characteristics of DC motor and servo motor. Finally, we established a system of statics equations and made an force characteristics analysis of the press. Keywords: hybriddriven。 ninebar press。 ADAMS。 kinematics 山東科技大學(xué)學(xué)士學(xué)位論文 III 目 錄 摘要 ...................................................................................................................... I ABSTRACT ......................................................................................................... II 1 緒論 ................................................................................................................. 1 論文的研究背景 ..................................................................................... 1 多連桿壓力機(jī)的概念 ......................................................................... 1 多連桿壓力機(jī)的優(yōu)越 性 ..................................................................... 1 混合驅(qū)動(dòng)多連桿壓力機(jī)的研究成果和發(fā)展概況 ................................. 1 國(guó)內(nèi)混合驅(qū)動(dòng)多連桿壓力機(jī)的發(fā)展情況 ............................................. 2 國(guó) 外混合驅(qū)動(dòng)多連桿壓力機(jī)的發(fā)展情況 ............................................. 2 本課題研究的主要內(nèi)容 ......................................................................... 3 本章小結(jié) ................................................................................................. 4 2 混合驅(qū)動(dòng)九桿壓力機(jī)的運(yùn)動(dòng)學(xué)模型與分析 ...................................... 5 機(jī)構(gòu)的運(yùn)動(dòng)分析 ..................................................................................... 5 機(jī)構(gòu)運(yùn)動(dòng)分析的方法 ......................................................................... 5 解析法分析機(jī)構(gòu)運(yùn)動(dòng)的求解過(guò)程 ....................................................... 5 混合驅(qū)動(dòng)九桿壓力機(jī)運(yùn)動(dòng)學(xué)模型的建立 ............................................. 6 混合驅(qū) 動(dòng)九桿機(jī)械壓力機(jī)機(jī)構(gòu)簡(jiǎn)圖 .................................................... 6 混合驅(qū)動(dòng)九桿壓力機(jī)的尺寸和角度 .................................................... 6 混合驅(qū) 動(dòng)九桿壓力機(jī)運(yùn)動(dòng)模型的建立 ................................................ 7 混合驅(qū)動(dòng)九桿壓力機(jī)運(yùn)動(dòng)方程的求解 ................................................. 9 求解位置方程 .................................................................................. 9 求解速度方程 ................................................................................. 11 求解加速度方程 ..............................................................................12 本章小結(jié) ................................................................................................13 3 ADAM 虛擬樣機(jī)仿真與分析 ...................................................................14 虛擬樣機(jī)尺寸的確定 ............................................................................14 桿長(zhǎng)確定條件 ..................................................................................14 獲得桿長(zhǎng)數(shù)據(jù) ..................................................................................15 建立 ADAMS 虛擬樣機(jī) ............................................................................16 啟動(dòng) ADAMS .......................................................................................17 設(shè)置建模環(huán)境 ..................................................................................17 創(chuàng)建物體（ Part） ...........................................................................18 創(chuàng)建約束副 ......................................................................................20 施加運(yùn)動(dòng)速度 ..................................................................................23 進(jìn)行仿真 .........................................................................................24 輸出測(cè)量曲線(xiàn) ..................................................................................24 驗(yàn)證 ADAMS 虛擬樣機(jī) ............................................................................26 山東科技大學(xué)學(xué)士學(xué)位論文 IV