三自由度架管机机械臂动力学特性分析

Dynamic Characteristics Analysis of Manipulator of 3-DOF Pipe Erecting Machine

以架管机的三自由度机械臂为研究对象,建立了架管机三维模型以及D-H坐标系,求解得到了机械臂末端位置的运动空间;用ADAMS软件分析了架管机机械臂不同负载下的运动,得到相关曲线。结果表明:机械臂Z轴运动空间的最大值为2.6 m,可以满足淮南地区的实际架管需求;架管机小臂Z轴的最大质心速度为2 m/s,在周期内会产生不稳定速度波动;速度、加速度曲线变化趋势相吻合,θ_(2)、θ_(3)的最大值分别是120°和58°,其仿真结果为架管机实际模型的搭建奠定了基础。

The 3-DOF mechanical arm of the pipe erector was taken as the research object,the three-dimensional model of the pipe erector and the D-H coordinate system were established in the paper,and the motion space of the end position of the mechanical arm was obtained.The movement of the mechanical arm under different loads was analyzed with ADAMS software,and the correlation curve was obtained.The results showed that the maximum movement space of the manipulator shaft is 2.6 m,which can meet the actual demand of Huainan area.The maximum centroid velocity of the forearm shaft is 2 m/s,which will produce unstable velocity fluctuation in the cycle.The variation trend of velocity and acceleration curves is consistent,and the maximum value of θ_(2) and θ_(3) is 120° and 58°,respectively.The simulation results lay a foundation for the construction of the actual model of pipe erection machine.