液压重载机械臂设计与仿真  

Design and Simulation of Hydraulic Heavy-Duty Manipulator

作　　者：汪卫兵[1] 黄子琰 赵鹏兵 WANG Wei-bing;HUANG Zi-yan;ZHAO Peng-bing(School of Mechanical Engineering Xi'an University of Science and Technology,Shaanxi Xi'an 710054,China;School of Mechanical and Electrical Engineering Xidian University,Shaanxi Xi'an 710071,China)

机构地区：[1]西安科技大学机械工程学院,陕西西安710054 [2]西安电子科技大学机电工程学院,陕西西安710071

出　　处：《机械设计与制造》2023年第7期262-265,270,共5页Machinery Design & Manufacture

基　　金：陕西省自然科学基础研究计划面上项目(2019JM-231)。

摘　　要：针对复杂工况下的重载搬运和装配,设计一款六自由度液压重载机械臂。利用SolidWorks建立其三维模型,简要阐述了夹持手的设计方案。基于D-H法建立了运动学模型,并验证方程的正确性。设置机械臂各关节和夹持物的质量属性,通过五次多项式规划末端轨迹。利用ADAMS进行动力学仿真,得到了各关节在工作状态下所需的驱动力矩,并分析了所选液压元件的可行性和有效性。通过上述仿真确定了机械臂的动力学性能指标,并为后续控制系统设计提供了理论依据。Aiming at the heavy load handling and assembly under complicated working conditions,a six DOF hydraulic heavy load manipulator is designed.Using SolidWorks to build its 3D model,the design scheme of gripper is briefly described.The kinematics model is established based on D-H method,and the correctness of the equation is verified.The mass properties of each joint of the manipulator and the clamping object are set,and the terminal trajectory is planned by the quintic polynomial.By using ADAMS to carry out dynamic simulation,the required driving torque of each joint under working condition is obtained,and the feasibility and effectiveness of the selected hydraulic components are analyzed.Through the above simulation,the dynamic performance index of the manipulator is determined,and the theoretical basis is provided for the subsequent control system design.

关 键 词：液压机械臂 运动学分析 动力学仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TP241[自动化与计算机技术—检测技术与自动化装置]