集装箱正面吊运机位置分析

Position Analysis of Container Front Lifter

集装箱正面吊运机工作装置是一种空间开链机构,基于复数矢量法推导了该机构的位置正解和位置反解的解析解,利用Matlab进行了实例仿真分析。基于位置正解分析了集装箱正面吊运机的作业空间,得到吊具在空间各个方向所能达到的最远距离;基于位置反解分析了匀速垂直起吊时俯仰液压油缸和伸缩液压油缸的位移变化曲线。分析结果得到了基于ADAMS的仿真验证,可用于进一步的运动学分析和自动控制研究。

The container front lifting machine working device is a space open chain mechanism. Based on the complex vector method,the analytical solution of the position positive solution and the position inverse solution of the mechanism is derived. The simulation analysis is carried out by using Matlab. Based on the positional positive solution,the working space of the container front lifter is analyzed,and the farthest distance that the spreader can reach in all directions of space is obtained. Based on the positional inverse solution,the displacement curve of the pitch hydraulic cylinder and the telescopic hydraulic cylinder during uniform vertical lifting is analyzed. The analysis results are verified by ADAMS simulation and can be used for further kinematic analysis and automatic control research.