伸缩臂叉装车工作装置运动学分析

Kinematic analysis for working device of telehandler

伸缩臂叉装车工作装置是一种平面开链六杆机构,基于复数矢量法推导了该机构的位移、速度和加速度的解析解,根据Matlab算例计算结果分析了该机构的运动特性。随臂架转角的增大,摇杆角度近似线性的减小,而连杆角度逐渐增大;摇杆角速度和连杆角加速度与臂架转角呈开口较大的抛物线,当臂架转角等于40°时摇杆角速度负向最大,连杆角加速度最小;摇杆角加速度和连杆角速度随臂架转角的增大而增大;货叉的位移、速度和加速度均随臂架转角的增大而增大。用ADAMS软件仿真验证了该分析结果,可进一步用于该机构的动力学分析、优化设计和自动调平控制。

The working device of the telehandler is a planar open-chain six-bar mechanism. The analytical solutions of dis- placement, velocity and acceleration of the mechanism were derived based on the plural-vector method. The motion properties of the mechanism were also analyzed based on the computational results from Matlab. The rocker angle decreased almost linearly when rotation angle of the arm frame increased, whereas the rod angle increased gradually. In addition, the displacement, veloci- ty and acceleration of the fork increased when the arm frame angle enlarged. The results are testified by ADAMS simulation, which are helpful to dynamic analysis, optimization and control of the mechanism.