摘要
基于一种双平行四杆机构与齿轮关节串联式的交通锥回收机械臂,针对其存在的回收效率低,且固定传动比的齿轮关节难以实现最优运动轨迹的问题,采用可变传动比的沟槽凸轮关节对其进行改进设计。首先,在对机械臂进行运动分析的基础上,以最小主臂转角为优化目标,根据交通锥运动要求确定约束条件,建立运动轨迹优化模型,求得机械臂最优运动轨迹;然后,根据优化后的运动轨迹,采用解析法求解沟槽凸轮的理论轮廓线,进而得到沟槽凸轮的实际轮廓线;最后,利用Adams进行仿真验证。结果表明,交通锥回收机械臂主臂转角减小8.1%,缩短了液压缸的工作行程,改善了液压缸的受力情况,提高了交通锥回收机械臂的工作效率。
Based on a dual parallel four-bar mechanism and gear joint series-type traffic cone recovery manipulator,which has the problem of low recovery efficiency and difficult to achieve optimal motion trajectory of fixed gear ratio joints.The grooved cam joint is used for improving design.Firstly,based on the motion analy sis of the manipulator,the minimum main arm angle is taken as the optimization target,the constraint condition is determined according to the traffic cone motion requirement,the motion trajectory optimization model is estab lished,and the optimal motion trajectory of the manipulator is obtained.Then,according to the optimized motion trajectory,the theoretical contour of the grooved cam is solved by analytical method,and then the actual contour of the grooved cam is obtained.Finally,the simulation is verified by Adams.The results show that the main arm angle of the traffic cone recovery robot arm is reduced by 8.1%,the working stroke of the hydraulic cylinder is shortened,the force of the hydraulic cylinder is improved,and the working efficiency of the traffic cone recovery robot arm is improved.
作者
李玉善
郭海荣
胡香媛
吕安涛
Li Yushan;Guo Hairong;Hu Xiangyuan;Lü Antao(College of Transportation,Shandong University of Science and Technology,Qingdao 266590,China;Shandong Transportation Institute,Ji′nan 250031,China)
出处
《机械传动》
北大核心
2019年第7期151-155,167,共6页
Journal of Mechanical Transmission
关键词
交通锥回收机械臂
运动分析
沟槽凸轮设计
轨迹优化
Traffic cone recycling manipulator
Kinematic analysis
Design of groove cam
Trajectory optimization
