Journal of Textile Research ›› 2021, Vol. 42 ›› Issue (01): 145-153.doi: 10.13475/j.fzxb.20200401309

• Machinery & Accessories • Previous Articles     Next Articles

Research on dynamic characteristics of spatial-linkage weft insertion mechanism considering flexible hinge clearance

LI Bo1,2, HU Kai1,2, JIN Guoguang1,2(), WEI Zhan1,2, CHANG Boyan1,2   

  1. 1. Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology, Tiangong University, Tianjin 300387, China
    2. School of Mechanical Engineering, Tiangong University, Tianjin 300387, China
  • Received:2020-04-07 Revised:2020-09-03 Online:2021-01-15 Published:2021-01-21
  • Contact: JIN Guoguang E-mail:jinguoguang@tiangong.edu.cn

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Abstract:

In order to improve the operation efficiency of high-speed rapier loom, the complex influence of the joint clearance on the motion output of the spatial-linkage weft insertion mechanism was studied. Kinematic simulation of the mechanism was firstly carried out by using the vector method, and a variety of discontinuous contact force models considering energy dissipation were compared. The Lankarani-Nikravesh modeling method suitable for high-speed rapier loom was selected. Secondly, combining the calculated kinematic parameters of the spatial linkage with the impact force model of the flexible hinge, the dynamic analysis of the output part of the system was carried out by the Newton-Euler method. Combined with specific engineering practice, the dynamic characteristics of the system with different clearances were worked on. Based on the validation of the virtual prototype test data and the output comparison and error analysis with the rigid hinge clearance collision modeling method. The results show that the increase of clearance leads to sharp fluctuation in rapier head acceleration, affecting the smooth pick-up and accurate weft clamping. When the clearance value is 0.5 mm in particular, the peak error of rapier head displacement is reduced by 69.4% by using flexible hinge method, effectively improving the operating accuracy.

Key words: weft insertion mechanism, flexible hinge, penetration depth, contact impact force, rapier loom

CLC Number: 

  • TS103.33

Fig.1

Diagram of spatial-linkage weft insertion mechanism"

Fig.2

Revolute joint with clearance(flexible hinge)"

Fig.3

Simplified model of spatial-linkage mechanism"

Tab.1

Length of each componentmm"

l1' l2' l1 l2 l3 l4 lOA
206.5 298.6 160 400 280 480 144.6

Fig.4

Kinematic curves of rapier head without clearance. (a) Displacement; (b) Speed; (c) Acceleration"

Fig.5

Linkage mechanism with clearance"

Tab.2

Relevant parameter values"

ce K/
(N·m-1)		 质量/kg 转速/
(r·min-1)		 转动惯量/(10-3 kg·m2)
m2 m3 J1 J2 J3
0.9 6.61×1010 2 1.548 500 77.13 33.52 10.45

Fig.6

Dynamic characteristics with different clearances. (a) Displacement; (b) Speed;(c) Acceleration; (d) Phase diagram; (e) Impact force"

Fig.7

Virtual prototype of spatial linkage weft insertion"

Fig.8

Comparison of velocity curves of rapier head speed under different clearance balues"

Fig.9

Comparison of acceleration curves of rapier head under different clearance values"

Fig.10

Comparison of displacement curves of differents clerance values head"

Fig.11

Comparison of rapier head displacement error amplitude curves of different clearance values"

Tab.3

Displacement and error comparison of rapier head(clearance 0.2 mm)"

主轴
转角/
(°)		 剑头位移/mm 剑头位移误差/mm
柔性铰 刚性铰 虚拟样机
检测数据		 柔性铰 刚性铰
7.152 0.83 1.19 8.25 5.11 1.63
25.793 61.16 22.75 45.00 6.43 0.51
45.466 150.82 78.40 116.89 6.91 -8.21
62.391 281.52 170.44 258.94 -2.14 -23.77
85.431 551.00 401.20 508.49 -12.76 -47.27
103.564 716.71 595.69 704.83 0.39 -44.89
123.199 819.11 761.87 813.25 0.47 -25.48
139.427 865.43 855.51 868.66 -2.54 -10.56
151.835 887.37 888.39 896.40 -2.87 -4.71
178.011 911.12 915.97 913.42 -2.49 0.06
201.846 913.72 901.33 897.06 -7.49 -7.76
220.466 896.73 855.47 861.56 -13.51 -26.57
238.390 849.28 761.89 803.99 -15.61 -58.93
258.238 720.05 595.64 676.71 -22.12 -98.18
275.618 506.68 373.41 456.62 -31.48 -102.93
292.645 297.03 206.86 256.28 -19.75 -65.72
311.634 151.88 88.61 120.34 -4.84 -32.85
332.734 60.21 27.55 35.98 0.39 -11.21
351.105 15.03 2.39 11.51 -0.22 -1.64
359.052 4.35 0.02 0.96 0.03 0.08
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