摘要
针对单自由度齿轮连杆式交通锥回收机械手,在运动学分析的基础上,研究了杆件尺寸、传动比等参数对回收机械手末端执行器速度及轨迹的影响。基于减小所占空间、主臂转角以及水平加速度峰值等优化目标建立了数学模型,利用Matlab软件对主臂转角,主臂、副臂水平夹角及齿轮传动比等参数进行优化。根据优化前后的设计参数,通过ADAMS软件对回收机械手进行了动力学仿真验证,结果表明,优化后回收机械手尺寸减少了10.3%,主臂转角减小了13.6%,水平加速度峰值减小了19.8%。
Aiming at a single degree of freedom geared linkage traffic cone recovery manipulator, based on the kinematics analysis, the influence of parameters, likes link size and transmission ratio on the end actuator velocity and trajectory of recovery manipulator is researched. Considering reducing occupation space, main arm rotation angle and peak horizontal acceleration as the optimization targets, the mathematical model is estab- lished. By using MATLAB, the main arm rotation angle, main arm, deputy arm horizontal angle and gear trans- mission ratio are optimized. According to the design parameters before and after optimization, the dynamics sim- ulation verification of the recycling manipulator is carried out by ADAMS. The result shows that, the optimiza- tion of the size of recovery manipulator is reduced by 10. 3% , main arm rotation angle decreased by 13.6%, the peak horizontal acceleration is reduced by 19.8%.
出处
《机械传动》
CSCD
北大核心
2017年第4期85-88,共4页
Journal of Mechanical Transmission
关键词
交通锥回收机械手
参数优化
运动轨迹
仿真分析
Traffic cone recycling manipulator Parameter optimization Motion trail Simulation analysis
