摘要
为使管道清灰机器人操作臂机构的优化设计过程简化,经分析管道清灰机器人操作臂的特点,将其分解为六连杆转斗机构和举升机构两大功能相对独立的子机构。通过选取对操作臂性能影响最大的初始铲取位置时的传动比的倒数为目标函数,以边界约束、性能约束、运动协调性约束、油缸稳定性约束等为条件,建立了管道清灰机器人操作臂优化设计数学模型。应用Matlab/Simulink软件编制了优化计算程序,分析得到了管道清灰机器人操作臂的优化尺寸参数。为管道清灰机器人的整体优化提供了思路,同时,为今后此类六杆机构的设计提供一定的理论依据和方法。
In order to simplify the design process and reduce optimization scale, Through analyzing the characteristics of oper- ating arm about a pipe clearing ash robot and it is broke down six-bar fight transfer agency and lifting mechanism of relatively independent two sub-sector. By selecting reciprocal of the most influential drive ratio to the initial position of shovel as the ob- jective function and based on the boundary constraints, performance constraints, motor coordination constraints ,, stability con- straints of cylinder condition, the optimization mathematical model is established, optimized program is written hy Matlab/Sim- ulink and the optimize parameters of characteristics of operating arm about a pipe clearing ash robot are got by the analysis, a guideline is provided for the overall optimization of pipeline cleaning robot, but for the future design of these sinx agencies also could provide a theoretical basis and methods.
出处
《机械研究与应用》
2012年第4期33-36,共4页
Mechanical Research & Application
基金
天水师范学院中青年教师科研资助项目(TS1009)
关键词
管道清灰机器人
操作臂
优化设计
数学模型
pipe clearing ash robot
operating arm
optimization
mathematical model
