摘要
针对油罐车自主加注臂在作业过程中末端存在振动,导致与加注口对接精度降低,影响工作效率的问题,提出一种安装平衡缸来抑制末端振动的方法。基于MDH法建立油罐车自主加注臂的正运动学模型,采用解析法对机械臂进行逆向运动学求解,得到加注臂关节角度和末端对接装置位姿的映射关系。建立加注臂有限元分析模型并设置仿真边界条件,通过对不同平衡缸安装位置参数组合的加注臂依次进行仿真,确定平衡缸的最佳安装位置。最后,在相同边界条件下,对未安装平衡缸、安装平衡缸以及刚体状态下的加注臂进行仿真对比分析。结果表明:相较于未安装平衡缸的加注臂,安装平衡缸的加注臂在运动停止后的残余振动中,振动幅值最大减少了25.1 mm,在加注臂Z向上,振动幅值衰减最大达到了77.4%。以上数据表明,安装平衡缸能够有效降低加注臂的末端振动,提高对接过程的效率以及稳定性。
Aiming at the problem that the end of the autonomous filling arm of the tank trucks vibrates during operation,which leads to the reduction of the docking accuracy with the refueling port and affects the working efficiency,a method of installing a balance cylinder to suppress the end vibration was proposed.Based on the MDH method,a forward kinematics model of the autonomous refueling arm of the oil tank truck was established,and the inverse kinematics of the robotic arm was solved by analytical method,and the mapping relationship between the joint angle of the refueling arm and the pose of the end docking device was obtained.The finite element analysis model of the filling arm was established and simulation boundary conditions were set.The optimal installation position of the balance cylinder was determined by simulating the parameter combinations of different installation positions of the balance cylinder.Finally,under the same boundary conditions,the simulation and comparative analysis were conducted on the filling arm without a balance cylinder,with a balance cylinder installed,and in a rigid state.The results show that,compared to the filling arm without a balance cylinder installed,the residual vibration of the filling arm with a balance cylinder installed is reduced by 25.1 mm in the motion after stopping.In the Z-axis direction of the filling arm,the maximum attenuation of the vibration amplitude reaches 77.4%.The above data indicate that installing a balance cylinder can effectively reduce the end vibration of the filling arm and improve the efficiency and stability of the docking process.
作者
王巍
蒋为钰
缪海鹏
袁明新
WANG Wei;JIANG Weiyu;MIAO Haipeng;YUAN Mingxin(Jiangsu Automation Research Institute,Lianyungang Jiangsu 222042,China;School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang Jiangsu 212003,China)
出处
《机床与液压》
北大核心
2025年第5期31-38,共8页
Machine Tool & Hydraulics
基金
工信部高技术船舶科研项目(CBG3N21-2-7)。
关键词
自主加注臂
平衡缸
MDH法
运动学分析
有限元仿真
autonomous filling arm
balance cylinder
modified Denavit-Hartenberg method
kinematic analysis
finite element simulation
