基于ADAMS的喷浆液压机械臂动力学仿真分析  

Dynamics Simulation Analysis of Shotcrete Hydraulic Manipulator Based on ADAMS

作　　者：聂海男 邓立营 Nie Hainan;Deng Liying(School of Chemical Equipment,Shenyang University of Technology,Shenyang 111000,China)

机构地区：[1]沈阳工业大学化工装备学院,沈阳111000

出　　处：《机电工程技术》2024年第8期211-214,共4页Mechanical & Electrical Engineering Technology

基　　金：新疆国家重大工程科研计划项目(EQ057/FY056)。

摘　　要：为解决煤矿巷道喷浆支护作业机械智能化程度低、喷浆均匀性差、工作效率低、工人劳动强度大、工作环境恶劣等难题,分析现有某新型六自由度喷浆液压机械臂方案,并进行机械臂运动学方程推导及动力学仿真。首先采用标准D-H法建立其连杆坐标系,研究机械臂的坐标系及其变换,通过齐次变换矩阵计算,借助Matlab软件求解并化简,得到机械臂正运动学方程。采用Solidworks软件对机械臂的大臂、中臂、小臂、混凝土喷嘴及各回转关节进行机械结构三维建模,导入ADAMS软件中对喷浆液压机械臂进行动力学仿真研究,分析其在最大载荷工况下的运动轨迹及第一、第二两个典型受力关节所受到的作用力及力矩曲线图、角速度变化曲线。仿真结果可为后续的机械臂第一、第二关节结构优化、液压系统选取及控制研究提供参考。To solve the problems of low intelligence,poor uniformity,low work efficiency,high labor intensity,and harsh working environment of coal mine tunnel shotcrete support operation machinery,an existing six degree of freedom shotcrete hydraulic mechanical arm scheme is analyzed,and the kinematic equation derivation and dynamic simulation of the mechanical arm are carried out.Firstly,the standard D-H method is used to establish its linkage coordinate system,and the coordinate system and its transformation of the robotic arm are studied.By calculating the homogeneous transformation matrix and using Matlab software to solve and simplify,the forward kinematics equation of the robotic arm is obtained.Solidworks software is used to model the mechanical structure of the large arm,middle arm,small arm,concrete nozzle,and various rotating joints of the robotic arm in 3D.ADAMS software is imported to conduct dynamic simulation research on the spray hydraulic robotic arm,analyzing its motion trajectory under maximum load conditions,as well as the force and torque curves and angular velocity variation curves of the first and second typical load-bearing joints.The simulation results can provide reference for subsequent structural optimization of the first and second joints of the robotic arm,hydraulic system selection,and control research.

关 键 词：喷浆支护 液压机械臂 ADAMS仿真 多体动力学 

分 类 号：TD421[矿业工程—矿山机电]