混凝土液压拆除机械臂运动学分析与研究

Kinematic Analysis and Research of Concrete Hydraulic Demolition Manipulator

混凝土液压拆除机械臂运动学分析是混凝土液压拆除机器人运动及控制器设计的重要组成部分。将混凝土液压拆除机械臂作为研究对象,通过D-H法则建立机械臂连接杆坐标系,并完成机械臂的运动学分析。运用ADAMS对模型进行运动学仿真分析,获得了机械臂的运动包络图,测量了机械臂喷枪末端的位移、速度及加速度曲线,验证了理论分析的正确性。结合理论分析与仿真,分析实际使用中机械臂喷枪末端的姿态和运动情况,为末端机械臂的轨迹规划和控制提供了理论依据。

Kinematic analysis of concrete hydraulic demolition manipulator is an important part of the design of movement and controller design of concrete hydraulic demolition robot.The hydraulic manipulator of concrete is taken as the object of research.The manipulator connecting rod coordinate system was established by the D-H rule,and the kinematics analysis of the manipulator was completed.Kinematic analysis of the model was carried out by using ADAMS,and the kinematic envelope of the manipulator was obtained.The displacement,velocity and acceleration curves of the end of the manipulator gun were measured.The correctness of the theoretical analysis was verified.Combined with the theoretical analysis and simulation,the attitude and motion of the end of the manipulator lance are analyzed,which provides a theoretical basis for trajectory planning and control of the end manipulator.