管道抓举车机械臂的参数优化分析

Mechanical Arm Optimization Analysis of Pipeline Snatch Vehicle

机械臂是管路抓举车的核心设备,在狭小的空间内能够达到更广泛的作业范围是该设备的主要要求。建立作业机构的数学模型,根据实际作业环境确定边界条件,将边界参数坐标带入数学模型的方程组内,通过MATLAB软件进行优化计算即可求出设备关键参数的最优值,从而可以解决作业空间小和作业范围广的矛盾。

Mechanical arm is the key equipment of pipeline snatch vehicle. The main requirement of the device is to achieve wider operation range in a narrow space. Establishing the mathematical model of the operating mechanism,determining the boundary conditions according to the actual operating environment,and brings the boundary parameter coordinates into the equation group of the mathematical model. The optimal value of the key parameters of the equipment can be obtained by the optimization calculation of the MATLAB software,thus the contradiction of working space and the operation scope can be solved.