摘要
为了解决火车煤采样机和火车同时运动(即双动)的情况下如何完成全断面采样的问题,采用D-H法建立了采样机的空间坐标系,进行了运动学分析,得出了其运动学方程;提出了一种利用Matlab解非线性方程组法求解逆运动学问题的方法,并通过仿真得到了采样机的运动轨迹、各液压缸位移、马达角位移曲线以及液压缸速度和马达角速度曲线,为利用控制器控制采样机按照预定轨迹采样提供了必要的数据。该方法可以广泛应用于多自由度关节型机械手的智能运动控制,具有较大的推广价值。
In order to solve the problem of how to complete a full section sampling while coal sampling machine and train are in movement(i.e. double action),the D-H method is used to set up the space coordinates to the sampling machine. The kinematics equations are obtained and the corresponding analysis is conducted; A method of using Matlab to solve nonlinear equations is proposed for solving the inverse kinematics problem,and the trajectory curve of sampling machine,the hydraulic cylinder displacement curve,the motor angular displacement curve and the speed curve of hydraulic cylinder and motor angular velocity curve are obtained through the simulations. It could provide the necessary data for the controller to control the sampling machine to sample in accordance with the requirements in this article. This method can be widely used in intelligent motion of multi degree of freedom articulated manipulator control. Therefore,it will have great popularization value.
出处
《机床与液压》
北大核心
2015年第18期52-56,共5页
Machine Tool & Hydraulics
基金
supported by The Shaanxi Province Industrial Research Projects(2012K10-10)
2015GY068 project categories:Industrial Technology Research of Shaanxi Province project name:The key technology research on coal sampling manipulator full face high speed sampling
