Dynamics modeling and simulation of a new nine-bar press with hybrid-driven mechanism

摘要

A novel hybrid-driven mechanical press for precision drawing is presented. This new press is composed of a nine-bar linkage which has two degrees of freedom determined by inputs from a dc constant speed motor and a dc servomotor. Therefore, the generalized coordinates are the angular displacement of two cranks. The kinetic energy, potential energy and generalized torques are analyzed. According to the equivalent circuit of the dc motor and the brushless servomotor, their dynamical model and position negative feedback model are developed separately. Then, a dynamical model for the hybrid-driven press is developed by using Lagrange’s formulation. The dynamical equation is then transformed into a system of first order equations. Six first order differential equations are obtained in the state variables. In the end, the fourth fourth order Runge-Kutta method, an explicit method, is chosen as the integration technique of computer simulation. Two motors’ current, two cranks’ position and two cranks’ angular velocity are treated as unknowns and the time response of the hybrid-driven press is obtained by integrating the system of first order equations through time.