基于ADAMS的排管机夹持机械手控制策略研究

Study on Control Strategy of Gripping Manipulator of Pipe Racking Device Based on ADAMS

为合理控制排管机夹持机械手工作时长及启、停时间,提高结构安全性和稳定性。以排管机夹持机械手油缸设计速度和设计受力为主要研究参数,运用多体动力学分析软件ADAMS分别对夹持机械手在不同工作时长和不同启停时间下的速度和受力进行分析,确定出该结构的最优工作时长及最佳启、停时间,总结规律,为以后同类型机械手最优控制参数的确定提供参考。分析表明:机械手单程工作用时对油缸的受力和速度都有影响,且影响程度不同;结构的启动时间对速度和受力同样有不同的影响,初始1 s内影响最大;当机械手单程工作时长为6 s、启动时间为2.5s、停止时间为1 s时,机械手能安全稳定工作,且工作用时最短,控制方法最优。

In order to control the working time and the start-stop time of the gripping manipulator in pipe racking device,and to improve the safety and stability of the structure,the design speed and design force of the manipulator cylinder were used as the main research parameters,and the multi-body dynamics analysis software ADAMS was used to analyze the speed and force of the manipulator under different working time and different start-stop time,so as to determine the optimum working time and starting and stopping time of the structure,summarize the rules which can provide reference for determining the optimal control parameters of the similiar manipulator. The results show that the force and velocity of the cylinder are affected by the one-way working time of the manipulator,and the influence degree is different. The start-up time of the structure has different influence on velocity and force,with the greatest effect in the initial 1 s. When the manipulator＇s working time is 6 s,the starting time is2.5 s,the stopping time is 1 s,it can work safely and stably,and the working time is the shortest,the control method is the best.