摘要
为了提高矿井智能化程度,降低矿井运营过程中的人力成本,建立一种新型智能矿用转移机械臂系统模型,首先对设计方案进行参数确定,并通过优化理论得到定型设计参数,其次运用D-H方法对设计模型进行正/逆运动学分析,最后通过数值仿真对设计方案进行验证。研究结果表明:基座高度对于有效转移空间基本不存在影响,但随着基座高度的增加结构指标呈现增长趋势;随着机械臂基座与实际工作区域距离增加,有效转移空间在边界条件内呈现波动现象,且当机械臂基座与实际工作区域距离等于690mm时,有效转移空间最大;关节旋转副速度变化曲线光滑,整体运动平稳,转移机械臂在接近转移目标运动过程中各阶段曲线变化均较为光滑,故系统运行稳定,平顺性较高。
In order to improve the intelligence of the mine and reduce mine labor costs in the operation process, a new intelligent mine transfer manipulators system model was established. Firstly, the parameters of the design were determined and the parameters of styling design were obtained by optimization theory. Secondly, a D-H method was used for positive / inverse kinematics analysis of designing model. Finally,the numerical simulation was used to validate the design plan. The results showed that the pedestal height had no effect on the effective transfer of space, but with the increase of pedestal height, the structural index showed a growing trend;with the increase of distance between manipulator pedestal and actual work area, the effective transfer space fluctuated in the boundary conditions, and when the distance between manipulator pedestal and actual work area reached to 690 mm,the effective transfer space was maximum;both the rotary joint velocity curve and the overall movement Were Smooth, with the various stages curve relatively smooth during the process of transfer manipulator moved towards the transfer target, so the system was stable, and had high ride.
出处
《世界科技研究与发展》
CSCD
2015年第6期654-657,共4页
World Sci-Tech R&D
基金
浙江省教育厅科研项目(FW2013097)资助
关键词
智能矿用
转移机械臂
优化理论
运动分析
D—H方法
有效转移空间
关节旋转副
基座高度
intelligent mine-used
transfer manipulators
optimization theory
motion analysis
d-h method
effective transferof space
rotation vice
base height
