球磨机换衬机械臂运动学分析及仿真模拟  

Kinematics Analysis and Simulation of Ball Mill Interlining Manipulator

作　　者：张旭阳 邓立营 王小永 Zhang Xuyang;Deng Liying;Wang Xiaoyong(School of Chemical Equipment,Shenyang University of Technology,Liaoyang,Liaoning 111000,China)

机构地区：[1]沈阳工业大学化工装备学院,辽宁辽阳111000

出　　处：《机电工程技术》2024年第5期38-42,共5页Mechanical & Electrical Engineering Technology

基　　金：新疆国家重大工程科研计划项目(EQ075/FY056)。

摘　　要：为提高ϕ5600×8842型球磨机更换衬板的效率,自主设计一款六自由度球磨机换衬机械臂,并通过Solidworks软件建立球磨机换衬机械臂以及筒体三维模型。然后采用D-H参数法建立机械臂连杆坐标系,由此得到各关节连杆的变换矩阵,根据机械臂实际工作需求代入关节变量值,对机械臂进行正逆运动学分析与解算,并用五次多项式插值法对机械臂进行轨迹规划。最后利用SerialLink函数在MATLAB中对机械臂进行运动学建模,通过工作空间分析与轨迹规划仿真来检验机械臂运动学合理性。结果表明:机械臂换衬工作的运动过程流畅稳定,其工作空间符合筒体结构,能够有效提高球磨机的换衬效率。In order to improve the efficiency of liner replacement ofϕ5600×8842 for M-shaped ball mill,a ball mill liner replacement mechanical arm with six degrees of freedom is designed independently,and the three-dimensional model of ball mill liner replacement mechanical arm and cylinder with Solidworks software are established.Then the D-H parameter method is used to establish the connecting rod coordinate system of the manipulator,and the transformation matrix of the connecting rod of each joint is obtained.The joint variable values are substituted according to the actual working requirements of the manipulator,and the forward and inverse kinematics analysis and calculation of the manipulator are carried out.The trajectory planning of the manipulator is carried out with the quintic polynomial interpolation method.Finally,the kinematics of the manipulator is modeled in MATLAB by using SerialLink function,and the workspace analysis and trajectory planning simulation are carried out to test the rationality of the kinematics of the manipulator.The results show that the interlining process of the mechanical arm is smooth and stable,and its working space conforms to the cylinder structure,which can effectively improve the interlining efficiency of the ball mill.

关 键 词：六自由度 运动学求解 工作空间分析 轨迹规划 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]