模块化空间轴/径向伸缩式轮胎成型鼓导引机构分析与设计
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摘要
本文密切结合高端子午线轮胎成型装备自主创新的需求，在国家高技术研究发展计划(863计划)和国家自然科学基金项目的资助下，研究一种新型空间轴/径向伸缩式成型鼓导引机构的构型综合、自由度分析、运动学建模、刚体动力学建模等基础问题。在此基础上，结合具体设计案例，提出一种尺度设计的优化算法和设计流程。全文取得如下创造性成果：
机构创新方面，在系统总结成型鼓导引机构拓扑结构特点以及其运动特性的基础上，基于模块化设计思想，采用“再生运动链”法，系统研究成型鼓导引机构基本驱动单元的构型设计，提出多种机构构型。针对成型鼓导引机构基本单元的设计要求，对构型方案进行优选。
自由度分析方面，采用基于反螺旋理论的自由度分析原理，分析对基本驱动单元进行结构分解得到的平面六杆机构及三杆四副支链等基本运动链。运用螺旋理论，对各简单平面机构及支链进行局部自由度、虚约束及公共约束的判定，分别计算其自由度，并依据广义运动副替代原则，得到多个子链组合而成的成型鼓导引机构的自由度数及运动属性。
运动学建模方面，根据成型鼓导引机构运动特性，建立详细完备的驱动关节与各指定输出构件之间的位置、速度及加速度的正、反解模型，求得了雅克比矩阵和海塞矩阵的显式表达式，为成型鼓导引机构的动力学建模提供了运动学基础。
刚体动力学建模方面，基于机构运动学模型，采用虚功原理建立了成型鼓导引机构的刚体动力学模型，为工程样机设计阶段驱动器的选择、动态设计以及力矩控制的实现奠定了理论基础。
在成型鼓导引机构优化设计方法研究方面，定义包含内、外瓦驱动机构传动质量指标两个变量的函数来评价成型鼓导引机构的力传递性能，并以此为目标函数，辅以依据机构运动特性建立的约束条件，提出一种以追求力传递性能最优为目标的优化设计方法。结合具体算例，演绎了成型鼓导引机构尺度优化设计流程，仿真结果验证了优化算法的正确性、有效性。
本文研究成果对拓展可展机构应用领域，丰富可展机构的研究内容，推进高端子午线轮胎成型鼓的自主创新具有重要的理论意义和实用价值。
This dissertation deals with the theory and methodology for the design of a newtype spatial axial/radial telescopic tire building drum guiding mechanism, includingtype synthesis, freedom analysis, kinematics modeling, rigid body dynamicsformulation. On the basis, proposed a dimensional synthesis optimization algorithmsand design flows by a successful design case. The following contributions have beenmade.
On the basis of the system summarizes of the topology structural as well as itskinematic characteristics of tire building drum guiding mechanism, based on the ideaof modular design and using the Regenerated Motion Chain method, type synthesis ofthe tire building drum guiding mechanism is studied systematically, many newconfigurations for the tire building drum guiding mechanism are obtained. And amechanism is preferred according to the design requirements of the tire building drumguiding mechanism unit.
Mobility analysis of the guiding mechanism is carried out using the mobilitymethodology based on reciprocal screw theory. The mechanism is decomposed intoseveral planar six linkage and three bar four kinematic pair branch chains. Judging thepartial freedom, virtual constraint and common constraint of all the kinematic chainsbased on screw theory and analyzed their degree of freedom respectively. Accordingto the principle of substitution of the generalized kinematic pair, mobility of thecomplex loop mechanism composed by multiple sub-chain was studied. By structuraldecomposition of the tire building drum mechanism, the number and property ofmobility for the mechanism was obtained.
According to the kinematic characteristics of the forming drum guidingmechanism, the detailed and complete kinematics models between the driving jointsand specified output components are established, including the forward and inverseequations about position, velocity and acceleration. The explicit expression of the Jacobian matrix and the Hessian matrix are formulated, which are useful fordynamics modeling.
Based on the kinematics models, the rigid body dynamic model of the guidingmechanism is formulated using the virtual work principle, which provide a theoreticalfoundation for actuator select, dynamic design and realization of the torque control inengineering prototype design stage.
An optimal design method is proposed, whose objective function are composedby transmission quality indicators of inner tile driving mechanism and the outwardtile’s, used to evaluate the force transmission performance of guiding mechanism, theconstraint conditions are established based on the motion characteristics of themechanism. This optimal design method is studied with specific examples, and thecorrectness and effectiveness of the optimization algorithm are verified by thesimulation results.
机构创新方面，在系统总结成型鼓导引机构拓扑结构特点以及其运动特性的基础上，基于模块化设计思想，采用“再生运动链”法，系统研究成型鼓导引机构基本驱动单元的构型设计，提出多种机构构型。针对成型鼓导引机构基本单元的设计要求，对构型方案进行优选。
自由度分析方面，采用基于反螺旋理论的自由度分析原理，分析对基本驱动单元进行结构分解得到的平面六杆机构及三杆四副支链等基本运动链。运用螺旋理论，对各简单平面机构及支链进行局部自由度、虚约束及公共约束的判定，分别计算其自由度，并依据广义运动副替代原则，得到多个子链组合而成的成型鼓导引机构的自由度数及运动属性。
运动学建模方面，根据成型鼓导引机构运动特性，建立详细完备的驱动关节与各指定输出构件之间的位置、速度及加速度的正、反解模型，求得了雅克比矩阵和海塞矩阵的显式表达式，为成型鼓导引机构的动力学建模提供了运动学基础。
刚体动力学建模方面，基于机构运动学模型，采用虚功原理建立了成型鼓导引机构的刚体动力学模型，为工程样机设计阶段驱动器的选择、动态设计以及力矩控制的实现奠定了理论基础。
在成型鼓导引机构优化设计方法研究方面，定义包含内、外瓦驱动机构传动质量指标两个变量的函数来评价成型鼓导引机构的力传递性能，并以此为目标函数，辅以依据机构运动特性建立的约束条件，提出一种以追求力传递性能最优为目标的优化设计方法。结合具体算例，演绎了成型鼓导引机构尺度优化设计流程，仿真结果验证了优化算法的正确性、有效性。
本文研究成果对拓展可展机构应用领域，丰富可展机构的研究内容，推进高端子午线轮胎成型鼓的自主创新具有重要的理论意义和实用价值。
This dissertation deals with the theory and methodology for the design of a newtype spatial axial/radial telescopic tire building drum guiding mechanism, includingtype synthesis, freedom analysis, kinematics modeling, rigid body dynamicsformulation. On the basis, proposed a dimensional synthesis optimization algorithmsand design flows by a successful design case. The following contributions have beenmade.
On the basis of the system summarizes of the topology structural as well as itskinematic characteristics of tire building drum guiding mechanism, based on the ideaof modular design and using the Regenerated Motion Chain method, type synthesis ofthe tire building drum guiding mechanism is studied systematically, many newconfigurations for the tire building drum guiding mechanism are obtained. And amechanism is preferred according to the design requirements of the tire building drumguiding mechanism unit.
Mobility analysis of the guiding mechanism is carried out using the mobilitymethodology based on reciprocal screw theory. The mechanism is decomposed intoseveral planar six linkage and three bar four kinematic pair branch chains. Judging thepartial freedom, virtual constraint and common constraint of all the kinematic chainsbased on screw theory and analyzed their degree of freedom respectively. Accordingto the principle of substitution of the generalized kinematic pair, mobility of thecomplex loop mechanism composed by multiple sub-chain was studied. By structuraldecomposition of the tire building drum mechanism, the number and property ofmobility for the mechanism was obtained.
According to the kinematic characteristics of the forming drum guidingmechanism, the detailed and complete kinematics models between the driving jointsand specified output components are established, including the forward and inverseequations about position, velocity and acceleration. The explicit expression of the Jacobian matrix and the Hessian matrix are formulated, which are useful fordynamics modeling.
Based on the kinematics models, the rigid body dynamic model of the guidingmechanism is formulated using the virtual work principle, which provide a theoreticalfoundation for actuator select, dynamic design and realization of the torque control inengineering prototype design stage.
An optimal design method is proposed, whose objective function are composedby transmission quality indicators of inner tile driving mechanism and the outwardtile’s, used to evaluate the force transmission performance of guiding mechanism, theconstraint conditions are established based on the motion characteristics of themechanism. This optimal design method is studied with specific examples, and thecorrectness and effectiveness of the optimization algorithm are verified by thesimulation results.
引文
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