基于3-RPS并联机构的混凝土喷射装置的轨迹联动方法研究  

Research on trajectory linkage method of concrete spraying device based on 3-RPS parallel mechanism

作　　者：赵金镖 陈黎 张晓彤 王扬威 ZHAO Jinbiao;CHEN Li;ZHANG Xiaotong;WANG Yangwei(College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin 150040,Helongjiang,China)

机构地区：[1]东北林业大学机电工程学院,黑龙江哈尔滨150040

出　　处：《农业装备与车辆工程》2024年第7期102-105,共4页Agricultural Equipment & Vehicle Engineering

摘　　要：针对气膜钢筋混凝土结构穹顶部分施工过程中喷射质量不足的问题,提出一种联动方法计算动平台的运动轨迹和机构的关节调整。仿真结果表明,该机构能够在穹顶部分喷射阶段实现四轴联动,从而确保穹顶部分的随形以及等距喷射,进而提高喷射过程中的均匀性和喷射质量,可以满足穹顶部分混凝土喷射的特定需求。为类似复杂曲面的高效喷射提供了新的解决方案。This study addresses the issue of insufficient spraying quality during the construction process of the dome part in air-supported reinforced concrete structures.A method of linkage was proposed to calculate the motion trajectory of the dynamic platform and the joint adjustment of the mechanism.Simulation results showed that this mechanism could achieve four-axis linkage during the spraying phase of the dome part,thereby ensuring the adaptability and equidistant spraying of the dome part.This enhanced the uniformity and quality of the spraying process,meeting the specific requirements of concrete spraying for the dome part.This research offered a new solution for efficient spraying on similar complex surfaces.

关 键 词：串并混联机构 运动学分析 混凝土喷射 四轴联动 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]