Four-bar linkage-based tool changing mechanism and torque compensation based on dynamic characteristics

摘要

In the tapping machine, automatic tool changer (ATC) reduced working process time by changing tools rapidly, four-bar linkage-based angular transmission mechanism is the important parts in ATC. Required drive torque to transit an angle exists in angular transmission mechanism. Because the torque, the consumed energy and fatigue load are higher, reducing torque is required for improving ability of working process. Thus, a new mechanism with torsional spring is proposed to reduce peak torque and difference between the torque values. The dynamics analysis of the mechanism is performed to confirm that peak torque is lower than before. For optimal design, design parameters set stiffness, initial angle. Torque compensation mechanism (TCM) is optimized to minimize the peak required torque and difference between torque values. Lastly, it will be compared torque simulations with and without optimized TCM.