混凝土湿喷机工作臂的运动分析与仿真

Kinematics Analysis and Simulation on Working Arm of Concrete Sprayer

在对混凝土湿喷机工作臂的结构分析的基础上,运用机器人机械手的运动分析原理,建立了工作臂的关节式机械系统运动分析模型,利用矩阵法和齐次变换数学工具推导了固定坐标系下的喷射头的运动学方程,并应用Matlab对工作臂的运动轨迹进行了仿真和验证。运动臂的分析和仿真为混凝土湿喷机操作人员提供了控制喷射头位姿的依据、为设备的可视化监视系统和自动控制系统的研究与设计奠定了基础。

Applying the kinematics principle of robot manipulator,the AMS kinematics analysis model is built for working machanism of concrete sprayer according to the structure design.Taking advantage of matrix method and transformation,the motion equation of sprayer head is formed in base coordinate system,the path is simulated on Matlab.Those prodived data for the study and design of operation guarding system and automatic controlling system.