摘要
喷浆机械臂的振动特性对喷浆的效率和质量至关重要。臂架刚性建模造成准确度降低,对臂架刚柔耦合以及油缸柔性等效处理,为机械臂振动特性研究提供新方法。针对上述方法,借助ADAMS软件虚拟样机进行仿真,研究刚柔耦合和油缸柔性化对系统振动特性的影响,进而分析驱动油缸初始速度对振幅的影响,然后采用单一变量法进行试验。研究表明:喷浆机械臂处于水平工况下的油缸受力最大;刚柔耦合和油缸柔性模型的振幅较大且衰减速度较慢;减小机械臂运动初始速度可降低末端振幅;最后针对机械臂的动力学特性规律,对大臂俯仰油缸以及伸缩臂截面结构优化从而提高系统的稳定性。结果可以为后续机械臂优化设计和调试提供重要的指导意义。
Vibration characteristics of shotcrete manipulator are very important to the efficiency and quality of shotcrete. The rigid model of boom reduces the analysis＇s accuracy; The research of manipulator＇s rigid - flexible cou- pling and cylinder flexible equivalent processing provide a new method for the vibration characteristics. For the above method, with the aid of simulation of ADAMS virtual prototype, the effect of the system＇s vibration characteristics of the coupled and cylinder flexible model is studied, the influence of the initial speed of the drive cylinder to amplitude is analyzed, and then it is tested by using a single variable method. The results show that the cylinder of shotcrete manipulator in horizontal case has the largest stress ; the coupled and cylinder flexible model has larger amplitude and slower attenuation; reducing of the manipulator＇s movement velocity can decrease the amplitude at the end; and final- ly in view of the dynamic characteristics of manipulator, we can improve the stability of the system by optimizing the cylinder of arm pitch and section structure of telescopic boom. This result can provide important guiding significance for subsequent optimization design of manipulator and debugging.
出处
《计算机仿真》
CSCD
北大核心
2015年第10期446-451,共6页
Computer Simulation
基金
国家高技术研究发展计划项目(863计划)(SS2012AA041809)
湖南省自然科学基金(13JJ5008)
关键词
喷浆机械臂
刚柔耦合
动力学
振动
Shotcrete manipulator
Rigid-flexible coupling
Dynamics
Vibration
