履带式起重机执行机构型综合及运动学分析  

Type synthesis and kinematics analysis of crawler crane manipulator

作　　者：潘宇晨 邓志宁 蒙占彬 王东洋 郭正强 PAN Yu-chen;DENG Zhi-ning;MENG Zhan-bin;WANG Dong-yang;GUO Zheng-qiang(College of Mechanical,Naval Architecture and Ocean Engineering,Beibu Gulf University,Qinzhou 535011,China;School of Mechanical and Transportation Engineering,Guangxi University of Science and Technology,Liuzhou 545000,China;School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510641,China)

机构地区：[1]北部湾大学机械与船舶海洋工程学院,广西钦州535011 [2]广西科技大学机械与交通工程学院,广西柳州545000 [3]华南理工大学机械与汽车工程学院,广东广州510641

出　　处：《广西大学学报（自然科学版）》2021年第3期624-631,共8页Journal of Guangxi University（Natural Science Edition）

基　　金：国家自然科学基金资助项目(52061001);广西自然科学基金资助项目(2019JJB160048,2020GXNSFAA159035);广西重点研发计划项目(桂科AB20159012);江西省科技厅科技计划-重点研发计划(20192BBE50084)。

摘　　要：为了解决传统单自由度履带式起重机输出轨迹不够灵活、作业空间有限以及工作效率低等问题,首先运用功能分析方法求解其起重执行机构的运动输出规律并获得了实现起重运输作业的机构拓扑结构学要求。其次利用平面基础闭环子结构替换法进行机构型综合,设计出一类新型多自由度履带式起重机构构型。在此基础上运用Jacobian矩阵法分析了一种九杆十一副的平面二自由度履带式可控起重机构的奇异性和理论可达工作空间。最后,针对典型起重工况对其进行仿真分析,验证理论模型的正确性和工程应用的可行性。结果表明:相较于传统履带式起重机,新型履带式起重机构能有效提升作业空间、输出轨迹更灵活,具有较强的工程应用前景。In order to solve the problems of the traditional single Degree-of-Freedom(DOF)crawler crane,such as the inflexibility of its output capability,limited workspace and low working efficiency,the motion characteristics of the hoisting mechanism are analyzed using function analysis method,by which the requirements of the topological structure of lifting operations are obtained.A new type of multi-DOF crawler lifting mechanism is designed based on the planar basic closed-loop substructure replacement method.The singularity and theoretical reachable workspace of a 9-bar 11-pair planar 2-DOF crawler controllable lifting mechanism are analyzed as an example using Jacobian matrix method.Simulation of the proposed mechanism under typical crawler crane lifting conditions is carried out to verify the correctness of the theoretical model and the feasibility of its engineering application.The results show that,compared with the traditional crawler crane,the mechanism can effectively enlarge the workspace and generate more flexible output trajectories,which indicates a promising application prospect of the proposed novel crawler crane manipulator.

关 键 词：履带式起重机 型综合 奇异性 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]