一种全方位高刚度正交结构举升装置设计与仿真研究  

Design and Simulation Study of an All-round High Stiffness Orthogonal Structure Lifting Device

作　　者：刘国兴 岳义 韦宝琛 李亚晶 LIU Guoxing;YUE Yi;WEI Baochen;LI Yajing(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai,201620)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《机械设计与研究》2023年第5期178-183,共6页Machine Design And Research

基　　金：国家自然科学基金资助项目(51905337);上海市地方高校能力建设项目(22010501700)。

摘　　要：传统的剪叉举升机构在受到垂直于剪叉平面的载荷时,产生的应力与应变较大,即存在弱刚度方向问题。为此提出一种基于正交结构的高刚度剪叉举升装置。首先推导了剪叉机构的运动学、静力学和刚度模型;然后对正交结构举升装置和传统剪叉举升装置的刚度分别进行仿真分析和实验验证;最后将正交和传统非正交结构的剪叉举升装置对移动机器人底盘变形的影响进行仿真对比分析。结果表明,正交结构比非正交结构的举升装置刚度提高了9倍,且不存在弱刚度方向,同时正交结构举升装置对底盘变形的影响与传统剪叉举升装置几乎相同。文中所提出的全方位高刚度正交结构举升装置为移动机器人在重载、急停和偏载等复杂工况的应用提供了创新的高可靠性解决方案。When the traditional scissor lifting mechanism is subjected to a load perpendicular to the scissor plane,the stress and strain generated are large,resulting in weak stiffness in that direction.Therefore,a high-stiffness scissor lifting device based on orthogonal structure is proposed.In this paper,the kinematics,statics and stiffness models of the scissor mechanism are first derived.Then,the stiffness of the orthogonal structure lifting device and the traditional scissor lifting device are simulated and verified by experiments.Finally,the influence of the orthogonal and traditional non-orthogonal structure scissor lifting devices on the chassis deformation of mobile robots is simulated and analyzed.The results show that the stiffness of the lifting device with the orthogonal structure is increased by 9 times compared to that with the non-orthogonal structure,and there is no weak stiffness direction,and the influence of the orthogonal structure lifting device on the deformation of the chassis is almost the same as that of the traditional scissor lifting device.The all-round high-stiffness orthogonal structure lifting device proposed in this paper provides an innovative and high-reliability solution for mobile robots in complex working conditions such as heavy load,emergency stop and eccentric load.

关 键 词：泊车AGV 剪叉机构 正交结构 运动学 刚度 

分 类 号：TH122[机械工程—机械设计及理论] TH123