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针对单自由度齿轮连杆式交通锥回收机械手,在运动学分析的基础上,研究了杆件尺寸、传动比等参数对回收机械手末端执行器速度及轨迹的影响。基于减小所占空间、主臂转角以及水平加速度峰值等优化目标建立了数学模型,利用Matlab软件对主臂转角,主臂、副臂水平夹角及齿轮传动比等参数进行优化。根据优化前后的设计参数,通过ADAMS软件对回收机械手进行了动力学仿真验证,结果表明,优化后回收机械手尺寸减少了10.3%,主臂转角减小了13.6%,水平加速度峰值减小了19.8%。
Based on the kinematic analysis, the effects of rod size, transmission ratio and other parameters on the speed and trajectory of the recovery robot end effector are studied in this paper. The mathematical model was established based on the optimization goal of reducing the occupied space, the angle of the main boom and the peak of the horizontal acceleration. The parameters of the boom angle, the angle of the boom, the jib and the gear ratio were optimized by Matlab software. According to the design parameters before and after optimization, the dynamic simulation of the recovery manipulator is carried out by ADAMS software. The results show that the size of the recovery manipulator is reduced by 10.3%, the rotation angle of the main boom is reduced by 13.6% and the horizontal acceleration is reduced by 19.8% .