摘要
为实现移动作业液压机械臂的可折叠存放和较大工作空间的作业需求,针对液压机械臂俯仰关节设计了由直线油缸驱动的复合连杆机构,并通过多目标优化设计减小了直线油缸的最大驱动力,同时保证了机构的紧凑性;基于螺旋理论构建了六自由度液压机械臂的正向运动学模型,并推导出解析形式的运动学逆解;在ADAMS软件中建立液压机械臂的虚拟样机模型,并在MATLAB软件中规划了液压机械臂末端的运动轨迹,通过运动学逆解得到关节空间中的轨迹曲线,导入ADAMS软件中作为机械臂各关节的运动驱动,进行机械臂的动力学仿真,得到了关节驱动油缸的输出力曲线,证明了优化后的复合连杆机构可以满足机械臂驱动需求。
In order to meet the requirements of foldable storage and large working space of mobile hydraulic manipulator,a composite connecting link transmission mechanism driven by a linear cylinder was designed for the pitch joint of the manipulator,and the maximum driving force of the linear cylinder was reduced through multi-objective optimization design,while the compactness of the mechanism was ensured.Based on the screw theory,the forward kinematics model of the 6-DOF hydraulic manipulator was constructed,and the inverse kinematics solution of the analytical form was derived.The virtual prototype model of the manipulator was established in ADAMS software,and the trajectory of the end of the manipulator was planned in MATLAB software.Trajectory curves in the joint space was obtained by inverse kinematic solution,and it was imported into ADAMS software as the motion drive of each joint of the manipulator,the dynamic simulation of the manipulator was carried out,and the output force curve of the joint drive cylinder was obtained,which proved that the optimized composite link transmission mechanism can meet the drive requirements of the manipulator.
作者
李明
罗江涛
雒瑞民
赵昊宁
荣学文
LI Ming;LUO Jiangtao;LUO Ruimin;ZHAO Haoning;RONG Xuewen(School of Control Science and Engineering,Shandong University,Jinan 250061,China;Shandong Youbaote Intelligent Robotics Co.,Ltd.,Jinan 250101,China)
出处
《现代制造工程》
CSCD
北大核心
2023年第11期129-136,共8页
Modern Manufacturing Engineering
基金
国家重点研发计划课题项目(2022YFB4703604)。
关键词
液压机械臂
复合连杆机构
优化设计
螺旋理论
指数积
hydraulic manipulator
combined linkage mechanism
optimal design
screw theory
product of exponentials
