According to the basic principle of the shearer’s travelling mechanism to build the virtual prototype based on UG and ADAMS, and then carry out kinematics simulation of this virtual prototype .The error of angular velocity of every level transmission between virtual prototype and theoretic values . The results can be taken as the guideline for future structural design and dynamic simulation analysis.
The impact problem is analyzed when the complex-surface cutting metamorphic mechanism changes the configuration through ADAMS, assuring that the impact is decreased to minimum by changing the motion law of driving joint. The effectiveness of this method is verified through simulation, ensuring the stability of metamorphic mechanism in configuration transformation.
Kane dynamics equations of metamorphic mechanism based on screw theory is built, and the constraint equation with cut-off joint is completed by introducing exponentials formula. The configuration-complete dynamics equations of metamorphic mechanism is established with this two equations combined. The configuration-complete dynamics equations of the metamorphic mechanism in cutting machine for complex-surface is built using this method.
Focus on the problems of calculation complexity and abstractness in the traditional analysis methods of serial-parallel mechanism, the complete kinematic product of exponentials formula of serial-parallel mechanism was established in the paper based on the screw representation of spatial rigid motion. The errors of 4 D-H parameters were equivalent to error screw and the practical screw coordinate containing error screw of every joint axis was established. After the practical kinematic product of exponentials formula of serial-parallel mechanism being derived, the pose error model of tool coordinate system was established. According to the above screw method, numerical calculation of cutting machine about kinematic and error analysis was performed with MATLAB and the calculation results were compared with the simulation results of ADAMS. The comparison results show that relative error of the two groups of calculation results is within the 0.001 orders of magnitude and the correctness of screw methods application in the analysis of serial-parallel mechanism.
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