摘要
针对Delta型煤矸分拣机构在抓取矸石过程中需克服冲击力问题,提出了一种静力学分析方法。采用D-H参数构建该机构的运动学模型,进而应用螺旋理论和微分流形求解末端动平台的完整雅克比矩阵,得到了包含杆件间驱动力和约束力的完整力空间。在MATLAB中求解出驱动力的力矩曲线,通过与ADAMS中的仿真数值对比,验证了静力学分析方法的正确性。
Aiming at the problem that the Delta type coal gangue sorting mechanism needs to overcome the impact force in the process of grabbing the gangue, a static analysis method was proposed. D-H parameters were used to construct the kinematics model of the mechanism, and then the screw theory and differential manifold were used to solve the complete Jacobian matrix of the end moving platform,and the complete force space including the driving force and the restraining force between the members was obtained. The torque curve of the driving force was solved in MATLAB, and the correctness of the static analysis method was verified by comparing with the simulation value in ADAMS.
作者
吴璞
王宗彦
夏长林
景鸿翔
Wu Pu;Wang Zongyan;Xia Changlin;Jing Hongxiang(School of Mechanical Engineering,North University of China,Taiyuan 030051,China;Taiyuan Institute of Technology,Taiyuan 030008,China;Taiyuan Depot,Daqin Railway Co.,Ltd.,Taiyuan 030045,China)
出处
《煤矿机械》
2021年第5期74-77,共4页
Coal Mine Machinery
基金
山西省国际合作重点研发项目(201903D421015)
太原工业学院院级重点科学基金资助项目(2020LG01)。
关键词
煤矸分拣
DELTA机构
微分流形
coal and gangue sorting
Delta mechanism
differential manifold
