基于模糊梯度投影法的混凝土泵车臂架运动仿真

Simulation Applying to Planning Tracks of Concrete Pump Truck Arms

混凝土泵车是一种大型工程设备,由于其臂架系统具有冗余自由度,因此对其运动进行规划具有很大实际意义。提出基于模糊算法的模糊梯度投影法,并应用其进行了具有2个冗余自由度的混凝土泵车臂架系统逆运动学问题的求解,进行了直线和圆弧轨迹浇注的仿真。结果表明在对给定的轨迹进行规划时可以减小末端轨迹误差,能够较好的求解混凝土泵车臂架的逆运动学问题。

Concrete pump truck is a kind of giant construction machinery and equipments which is widely used in concrete pouring.Its arms have redundant freedom,so it has practical significances to research the moment of the arm system.Using fuzzy arithmetic in planning of concrete pump truck arm tracks and improving on the Gradient Projection Method the processes of straight and arc track of the end of arms were simulated.The straight line and circular arc track simulated.The results show that it is feasible to solve the inverse kinematics problem of truck-mounted concrete boom pump arm and laying the foundation of automatic pouring.