摘要
为了降低采样机械臂在挖掘土壤过程中能量损失,延长其工作时长,设计了可操纵性椭球模型和能量评价指标函数。通过仿真检验机械臂能量消耗,创建了采样机械臂运动位姿的可操作性椭球模型,给出了机械臂运动过程中的能量评价指标函数。对采样机械臂挖斗进行受力分析,给出了挖斗不同表面的受力方程式,设计了采样机械臂主动控制方法。在机械臂不同运动位姿状态下,采用Matlab软件对采样机械臂能量消耗进行仿真。结果显示:在无可操纵性椭球模型条件下,采样机械臂运动位姿较差,单位连杆长度受力较大,导致机械臂消耗的能量较多;在有可操纵性椭球模型条件下,采样机械臂运动位姿较优,单位连杆长度受力较小,导致机械臂消耗的能量较少。在同等条件下,随着采样机械臂挖斗的采样点不同,机械臂消耗的能量也不同。采样点越远,机械臂消耗的能量也越多,能够工作的时长也越短。采样机械臂挖斗采用可操纵性椭球模型,能够降低机械臂的能量损失,延长机械臂工作时长。
In order to reduce the energy loss and prolong the working time of the sampling manipulator in the process of digging soil,the maneuverability ellipsoid model and energy evaluation index function are designed,and the energy consumption of the manipulator is verified by simulation.The operational ellipsoid model of the position and pose of the sampling manipulator is established,and the energy evaluation index function of the manipulator is given. Based on the force analysis of the scoop of the sampling manipulator,the force equations of different surfaces of the scoop are given,and the active control method of the sampling manipulator is designed. Under the condition of different position and pose of the manipulator,Matlab software is used to simulate the energy consumption of the sampling manipulator. The results show that:in the condition of non maneuverable ellipsoid model,the motion posture of the sampling manipulator is poor,and the force per unit link length is large,which leads to more energy consumption of the manipulator;in the condition of maneuverable ellipsoid model,the motion posture of the sampling manipulator is better,and the force per unit link length is small,which leads to less energy consumption of the manipulator.Under the same conditions,with the sampling points of the scoop of the sampling manipulator are different,the energy consumed by the manipulator is also different. The farther the sampling point is,the more energy consumed by the manipulator is,and the shorter the working time is. The scoop of the sampling manipulator adopts the maneuverable ellipsoid model,which can reduce the energy loss of the manipulator and extend the working time of the manipulator.
作者
姚兴岭
张亮
张淑坤
YAO Xingling;ZHANG Liang;ZHANG Shukun(School of Intelligent Manufacturing,Xinxiang Vocational and Technical College,Xinxiang 453000,Henan,China;School of Mechanical Engineering,Shandong University of Technology,Zibo 255000,Shandong,China)
出处
《中国工程机械学报》
北大核心
2021年第4期318-323,共6页
Chinese Journal of Construction Machinery
基金
山东省自然科学基金资助项目(ZR2017LE015)。
关键词
可操纵性椭球
采样机械臂
能量评价指标函数
主动控制
仿真
maneuverable ellipsoid
sampling manipulator
energy evaluation index function
active control
simulation
