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1、同步控制实验提供参考。关键词：二自由度九杆机构；传动特性；曲柄扭矩；伺服压力机；虚拟样机AbstractInordertomeettherequirementsofrapidclamping,slowblankingandfastreturn,mechanicalfineblankingpressoftenadoptsthe2-DOFDouble-Knuckletransmissionmechanism.ItisthemechanismwhichadoptedbyGKP-FSeriesoffineblankin
2、gpressmadebySwitzerlandFeintoolCompany,anditwasdesignedintheformofbiaxialnine-barlinkage.Asamulti-linkageoftwodegreesoffreedom,themechanismitselfhasagoodregulatory.However,thebiaxialnine-barlinkagemechanismitselfwasoriginallydrivenbyasinglenormalmotorviagear
3、engagement.Consideringthattheservopresshasadvantagesofhighflexibility,highprecision,highefficiencywhichcanbetterfillfillthebasicrequirementsofthefineblankingpress,thisthesistransformedthebiaxialnine-barlinkageintoafullservomechanismdrivenbytwoservomotors-Mea
4、nwhile,designa20KNservopressforexperimentandfurtherexperimentalstudyofthetransmissioncharacteristicsofthemechanismwillberesearched.Thecontentsandresearchresultsareasfollows：Buildthemathematicalmodelofthenine-barlinkagewithtwodegreesoffreedomwhichisdrivenbytw
5、oservomotors.And,listtheclosedloopvectorequationofthemechanism.Then,solvetheangulardisplacement,angularvelocity,angularaccelerationofthelinkage,andthedisplacement,velocity;accelerationoftheslider,inthetransmissionsystem,thusthekinematicanalysisiscompleted.Ac
6、cordingly,furtherstudyofthecharacteristicsoftransmissionandtheimpactofthelinkage^sizeontheslidemotioncurvecanberesearched・ThevirtualprototypeofthemechanismhasbeenestablishedbyusingofMSC.ADMASsoftware・Studythetorquedistributionofthedoublecrankunderthewholetri
7、ploadconditionsoftheslider.Afteranalyzingtheroleoftriangleinmechanism'sinamplificationcharacteristics,improvethemechanism^amplificationperformancebychangingthesizeofthetriangleandmakethemaximumtorqueofthedoublecrankinnominalstrokebebalanced・Inthisway,solveth
8、eproblemwhichsinglemotorpoweristoobigbecauseofthelargerequiredtorqueonsinglecrank・Detenninethetransmissionmechanism'slayoutschemeoftheprototype,designthestructureofthetransmissionmechanism,slide
