摘要
为提高盾构机换刀的效率、降低换刀成本和危险系数,设计一种盾构机用六自由度液压换刀机械臂。阐述了该机械臂的整体设计方案并对其进行运动学建模,通过仿真验证了运动学模型的准确性,并获得机械臂的作业范围和机械臂各关节运动曲线。结果表明,所设计机械臂的活动范围较大,且各关节运动平稳性较好,结构设计合理,为机械臂的智能化控制研究提供理论支持。
In order to enhance the efficiency,reduce the cost and risk of tool changing for the shield machine,a 6-DOF tool-changing hydraulic manipulator was designed.In the paper,the overall design scheme of the manipulator was described and its kinematic model was built.After simulation,the accuracy of the kinematic model was verified,and the operating scope of the manipulator and the motion curves of various joints of the manipulator were obtained.The results showed that the designed manipulator had a large motion scope,and the motion of various joints was stable,and the structural design was reasonable,which provided theoretical support for the intelligent control of the manipulator.
作者
孙颜明
徐莉萍
任德志
SUN Yanming;XU Liping;REN Dezhi(School of Mechatronics Engineering,Henan University of Science&Technology,Luoyang 471003,Henan,China;School of Mechanical Engineering,Zhengzhou University of Science&Technology,Zhengzhou 450064,Henan,China)
出处
《矿山机械》
2020年第1期11-15,共5页
Mining & Processing Equipment
关键词
液压机械臂
盾构机
结构设计
运动学分析
轨迹规划
hydraulic manipulator
shield machine
structural design
kinematic analysis
trajectory planning
