Transactions of Materials and Heat Treatment

Title：Kinematics analysis on radial envelope forming equipment for thin-walled high-rib cylindrical parts

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ClassificationCode：TH112

year,vol(issue):pagenumber：2024,49(1):165-172

Abstract：

The kinematic analysis on the position inverse solution, singular configuration and work space of radial envelope forming equipment was carried out, and the kinematics model of six-link three-degree-of-freedom parallel mechanism was established by the closed-loop vector method. Then, the singular configuration was solved by Jacobian matrix, and the work space was solved by position constraint conditions. Furthermore, the kinematic characteristics of the six-link three-degree-of-freedom parallel mechanism were revealed. The mapping relationship between the position of driving slider and the posture of envelope roller was established to obtain the expressions of displacement, velocity and acceleration for the driving slider, and two types of singular configuration for parallel mechanism. Finally, the influencing factors and constraint conditions of the work space for the mechanism were analyzed, and the work space of the parallel mechanism was solved. The kinematics analysis of the radial envelope forming equipment shows the feasibility of the current configuration and motion parameters. When the swing angle γ of moving platform is the smallest, the parallel mechanism obtains the maximum moving work space. The above research provides a theoretical basis for the motion control of radial envelope forming equipment.

Funds：

国家自然科学基金资助项目（52175361）

作者简介：金奇伟（1996-），男，硕士研究生 E-mail：1455026314@qq.com 通信作者：郑方焱（1988-），男，博士，副教授 E-mail：13013@whut.edu.cn

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