液压支架油缸内壁缺陷修复机械臂的运动学分析与仿真  

Kinematic Analysis and Simulation of Manipulator for Repairing Inner Wall Defects of Hydraulic Support Cylinder

作　　者：张鑫[1] 潘建全 李旭 綦慧君 周芹乐 ZHANG Xin;PAN Jianquan;LI Xu;QI Huijun;ZHOU Qinle(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao Shandong 266590,China)

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《机床与液压》2023年第6期131-136,共6页Machine Tool & Hydraulics

基　　金：国家自然科学基金项目(51974170);山东省重点研发计划(2019SDZY01)。

摘　　要：针对矿用液压支架油缸内壁局部缺陷修复,设计一种能深入液压支架油缸筒内进行内壁修复的焊接机械臂。基于改进D-H参数建模方法,对设计的内表面修复焊接机械臂进行运动学建模,并求解了内表面修复焊接机械臂的正、逆运动学。借助MATLAB软件,采用蒙特卡洛法,对该焊接机械臂的有效工作空间进行了仿真分析,利用Robotics Toolbox工具箱对油缸内壁缺陷修复机械臂进行关节轨迹规划,通过仿真得到各关节的角位移、角速度、角加速度曲线。仿真结果表明:该机械臂运行平稳,轨迹连续,满足运动学要求。Aiming at the local defect repair of the inner wall of hydraulic support cylinder in mining,a welding manipulator which could go deep into the hydraulic support cylinder for inner wall repair was designed.Based on the improved D-H parameter modeling method,the kinematics model of the designed inner surface repair welding manipulator was established,and the forward and inverse kinematics of welding manipulator were analyzed and solved.With the help of MATLAB software and Monte Carlo method,the effective workspace of the welding manipulator was simulated and analyzed.Robotics Toolbox was used to plan the joint trajectory of the welding manipulator,and the angular displacement,angular velocity and angular acceleration curves of each joint were obtained by simulation.The simulation results show that the designed welding manipulator runs smoothly and the trajectory is continuous,which meets the kinematic requirements.

关 键 词：焊接机械臂 运动学分析 工作空间 轨迹规划 

分 类 号：TH137[机械工程—机械制造及自动化]