摘要
以悬臂式斗轮堆取料机为研究对象,通过分析其结构组成,将其类比为由1组滑动关节和3组转动关节构成的4自由度连杆装置。根据机器人运动学相关理论,利用目前通用的机器人运动学建模方法(D-H法)建立悬臂式斗轮堆取料机的运动学模型。在Matlab中,利用Robotic Toolbox相关函数编写程序得到其运动学仿真模型,并驱动各关节运动得到仿真结果。最后结合蒙特卡罗法在Matlab中编写程序得到悬臂式斗轮堆取料机的空间工作范围,并引入工作空间影响系数研究堆取料机关节参数变化对其工作空间的影响,从而为悬臂式斗轮堆取料机的设计和选用提供指导和参考。
With the cantilever bucket wheel stacker-reclaimer as the research object,by analyzing its structure make-up,it is compared to a four-degree-of-freedom connecting rod device consisting of a sliding joint and three rotating joints.According to related theories of robot kinematics,the kinematics model of the cantilever bucket wheel stacker-reclaimer is established by the DH method,which is the current general method of robot kinematics modeling.In Matlab,the kinematics simulation model is obtained by using the correlation function of Robotic Toolbox,and the kinematics simulation result is obtained by driving the motion of each joint.Finally,the space working range of cantilever bucket wheel stacker-reclaimer is obtained by using Monte Carlo method in Matlab,and the influence coefficient of workspace is introduced to study the influence of the change of joint parameters of stacker reclaimer on its workspace,which provides guidance and reference for the design and selection of the cantilever bucket wheel stacker-reclaimer.
作者
吴亚赛
Wu Yasai(Capital Engineering&Research Incorporation Limited of MCC,Beijing 100176)
出处
《烧结球团》
北大核心
2019年第6期55-59,共5页
Sintering and Pelletizing
关键词
悬臂式斗轮堆取料机
D-H法
运动学
仿真
cantilever bucket wheel stacker and reclaimer
D-H method
kinematics
simulation
