汽车塑料燃油箱耐火性能试验装置中机械手臂逆解分析  

Inverse solution of the mechanical arm of the fire-resistance test device for the automobile’s plastic fuel tank

作　　者：张自强[1] 李占国 王秋红 李奇涵[1] 张邦成[1] 张世宏 孟令威 ZHANG Zi-qiang;LI Zhan-guo;WANG Qiu-hong;LI Qi-han;ZHANG Bang-cheng;ZHANG Shi-hong;MENG Ling-wei(School of Mechatronic Engineering,Changchun University of Technology,Changchun 130012;Changchun Institute of Products Quality Supervision and Inspection,Changchun 130012)

机构地区：[1]长春工业大学机电工程学院,吉林长春130012 [2]长春市产品质量监督检验院,吉林长春130012

出　　处：《机械设计》2021年第1期72-77,共6页Journal of Machine Design

基　　金：吉林省科技厅重点科技攻关项目——汽车塑料燃油箱耐火性能试验关键技术及装置研究(20170204011GX)。

摘　　要：汽车塑料燃油箱安全性能是汽车的安全性能的关键因素。汽车塑料燃油箱检测方法在国家GB 18296—2001中有规定,燃油箱耐火性能检测是国家强制必须检验项目,试验中燃油箱夹具是否能模拟燃油箱在汽车上的实际安装状态尤为重要。文中按照国家标准规定研究燃油箱耐火性能试验中燃油箱夹具工作机理,分析燃油箱形状及实际装车状态,针对燃油箱上部压点位置进行深入分析,建立3R机械手的三维模型。基于D-H理论建立3R机械手的运动学模型,并进行逆运动学求解,实现燃油箱上部压点的精确定位,完成不同规格燃油箱在耐火性能试验中模拟实车安装状态进行检测提供了坚实的保障。Safety performance of the plastic fuel tank plays a key role to the safety of the whole automobile.The method of detecting the automobile’s plastic fuel tank is stipulated in the national document GB 18296—2001.The fire-resistance test of the fuel tank is mandatory.It is especially important to check whether the fuel tank’s fixture can simulate the actual installation state of the fuel tank on the automobile.In this article,according to the related national regulations,the working mechanism of the fuel tank’s fixture in the fire resistance-test is explored.The analysis is conducted on the shape of the fuel tank and its actual loading state.The position of the upper pressure point of the fuel tank is analyzed in depth,and the 3R manipulator’s 3D model is worked out.Based on the D-H theory,the kinematic model of the 3R manipulator is set up,and the kinematics is inversely solved in order to ensure that the upper pressure point is positioned in an accurate manner.It lays a solid foundation for the fuel tanks of different specifications to simulate their actual installation state in the fire-resistance test.

关 键 词：塑料燃油箱 耐火试验 机械手臂 运动学逆解 

分 类 号：TH122[机械工程—机械设计及理论]