摘要
针对混凝土湿喷台车机械臂的结构特点,采用D-H法建立连杆坐标系,推导出运动学和动力学方程。在此基础上,基于MATLAB Robotic Toolbox对混凝土湿喷台车机械臂进行运动学仿真分析,建立仿真模型并求解工作空间,验证所建运动学模型的正确性。采用ADAMS建立湿喷台车机械臂动力学模型,对两种最危险工况分别进行研究,计算动作油缸的最大载荷,并探究其随油缸位移的变化情况,仿真结果为机械臂与油缸的设计提供了一定的参考依据。
In this article,aiming at the structural characteristics of the concrete wet-spraying trolley’s manipulator,the DH method is adopted to work out the coordinate system of the connecting rod on one hand and derive the kinematic and dynamic equations on the other hand.Then,based on MATLAB Robotic Toolbox,the simulated analysis is conducted on the kinematics of the concrete wet-spraying trolley’s manipulator;the simulation model is set up and the working space is solved,in order to verify that the kinematic model is correct.ADAMS is used to establish the dynamic model of the concrete wet-spraying trolley’s manipulator.The two most dangerous working conditions are explored separately,the maximum load of the action cylinder is calculated,and the change of oil-cylinder displacement is identified.These results provide basis for the design of manipulator and oil cylinder.
作者
张新荣
杨江涛
冯坤鹏
ZHANG Xin-rong;YANG Jiang-tao;FENG Kun-peng(Key Laboratory of Road Construction Technology and Equipment of MOE,Chang’an University,Xi’an 710064;Xi’an Changda Intelligent Equipment Research Institute Co.,Ltd.,Xi’an 710018)
出处
《机械设计》
CSCD
北大核心
2021年第1期27-33,共7页
Journal of Machine Design
关键词
湿喷台车机械臂
三维模型
运动学
动力学
wet-spraying trolley’s manipulator
three-dimensional model
kinematics
dynamics
