摘要
论文针对轮胎硫化工序中装卸轮胎的工作需求,设计出一款关节型的轮胎硫化抓取装置。首先通过S型加减速速度控制算法对装置进行速度规划,求解出装置运转时末端的最大加速度,针对操作机的动力学逆问题运用ADAMS软件进行仿真分析,求解在给定末端点最大加速度运行情况下,各驱动器所必须提供给各主动关节的广义驱动力和关节的受力情况。结果表明,扭矩的变化曲线都较为平稳并未出现跳动以及频繁变向的情况,各关节受力大小合理并无突变和频繁变向的情况。为驱动器的设计提供了理论基础,验证了所设计的轮胎硫化抓取装置结构的可靠性和速度规划的合理性。
In this paper,a joint tyre vulcanization grasping device is designed to meet the requirement of tyre loading and unloading in tyre vulcanization process.First by S deceleration speed control algorithm is carried out on the device programming,the maximum acceleration is solved at the end when the device is running,according to the dynamics of manipulator inverse problem using the ADAMS software simulation analysis,to solve the maximum acceleration at the end of a given operation conditions,the driver must provide for each active joint generalized driving forces and force of the joints.The results show that the torque curve is relatively stable without jumping and frequent changing of direction,and the force of each joint is reasonable without sudden change of direction.It provides a theoretical basis for the design of the actuator and verifies the reliability and rationality of the velocity planning of the tire vulcanization grasping device.
作者
李新贺
李松梅
郑哲
LI Xinhe;LI Songmei;ZHENG Zhe(College of Electromechanical Engineering,Qingdao University of Science and Technology,Qingdao 266061)
出处
《计算机与数字工程》
2022年第11期2599-2604,共6页
Computer & Digital Engineering
关键词
广义驱动力
ADAMS仿真
S型加减速速度控制算法
generalized driving force
ADAMS simulation
S-type acceleration and deceleration speed control algorithm
