Integrated Cam Contour Optimization Method Considering Kinematic and Dynamic Characteristics: A Paradigm of Offset Press Open-Close Gripper Mechanism

Abstract

Abstract:To efficiently search out the optimal cam contour, a software integrated optimization method considering cam mechanism’s kinematic and dynamic characteristics was presented, and its effectiveness was demonstrated by a case study of the cam contour optimization for an offset press open-close gripper mechanism. The acceleration curve and the residual vibration model of the follower were separately studied. A symmetric harmonic trapezoidal curve was designed to control the follower’s acceleration, and single-DOF lumped parameter torsional vibration model was proposed to describe the follower’s residual vibration. Accordingly, corresponding motion curve design software and Simulink vibration model of the follower were developed respectively, and they were integrated into an automatic optimization platform with iSIGHT. The multi-objective optimization with objectives of minimizing both the acceleration and the residual vibration of the follower was completed within the platform by using NSGA-II algorithm. An appropriate point with lower acceleration and residual vibration was chosen from Pareto front as an optimal solution of the follower’s motion curve. Based on the follower’s new motion curve, the actual cam contour was generated by inverse kinematic simulation in COSMOSMotion. The offset press that installed our new designed cam exhibited a lower vibration than the previous machine, and the maximum measured acceleration of the offset press at a printing speed of 15 000 r/h is reduced by 7.7%.

Key words:offset press, cam contour optimization, acceleration curve, residual vibration, kinematics, dynamics, integrated platform

摘要：为了高效地搜索出最优的凸轮轮廓，提出了一种考虑凸轮机构运动学和动力学特性的软件集成优化方法，并以胶印机开闭牙机构凸轮轮廓优化为例，验证了该方法的有效性。分别研究了从动件的加速度曲线和残余振动模型。设计了对称谐梯形曲线来控制从动件的加速度，以及提出了一种单自由度集中参数扭转振动模型来描述从动件的残余振动。据此，分别开发了从动件的运动曲线设计软件和Simulink振动模型，并与iSIGHT一同集成到自动优化平台中。在该平台内采用NSGA-II算法完成了以从动件的加速度最小和残余振动最小为目标的多目标优化。从Pareto前沿中选取加速度和残余振动均较低的一点作为从动件运动曲线的最优解。基于从动件的新运动曲线，在COSMOSMotion软件中进行逆运动学仿真，生成了实际的凸轮轮廓。安装了新设计凸轮的胶印机比原胶印机的振动更小，胶印机在印刷速度为15000 r/h时的最大实测加速度降低了7.7%。

关键词:胶印机，凸轮轮廓优化，加速度曲线，残余振动，运动学，动力学，集成平台

CLC Number:

TH122
TS803

LI Wenwei, CAO Shuai, QIAN Qian, ZHANG Yaling, CHEN Nan. Integrated Cam Contour Optimization Method Considering Kinematic and Dynamic Characteristics: A Paradigm of Offset Press Open-Close Gripper Mechanism[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(6): 1195-1207.

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