交通锥回收机械手液压缸铰接点位置优化

发布时间：2018-01-13 13:04

本文关键词：交通锥回收机械手液压缸铰接点位置优化　出处：《机床与液压》2017年21期 　论文类型：期刊论文

【摘要】：基于一种交通锥回收机械手液压缸铰接点位置对交通锥回收稳定性的影响,研究了其液压缸铰接点位置与交通锥运动、受力之间的关系,建立了以最小化交通锥水平加速度峰值为目标的液压缸铰接点位置优化模型,通过罚函数将有约束优化问题转化为无约束优化问题,形成了新的目标函数,利用粒子群优化算法,求得液压缸铰接点位置的最优解。对优化前后的模型进行仿真,仿真结果表明,在满足液压缸最大工作压力限值的前提下,液压缸铰接点位置的优化大幅度降低了交通锥水平加速度的峰值,提高了交通锥回收的稳定性。
[Abstract]:Based on the influence of the position of the hydraulic cylinder hinge point of a traffic cone recovery manipulator on the stability of the traffic cone recovery, the relationship between the position of the hydraulic cylinder hinge point and the movement and force of the traffic cone is studied. The optimization model of hydraulic cylinder hinge position with the aim of minimizing the peak value of horizontal acceleration of traffic cones is established. The constrained optimization problem is transformed into an unconstrained optimization problem by penalty function, and a new objective function is formed. The particle swarm optimization algorithm is used to obtain the optimal position of the hinge point of the hydraulic cylinder. The simulation results show that the maximum working pressure limit of the hydraulic cylinder is satisfied with the simulation results before and after the optimization. The optimization of the position of hydraulic cylinder hinges greatly reduces the peak value of the horizontal acceleration of the traffic cones and improves the stability of the recovery of the traffic cones.
【作者单位】：山东科技大学交通学院;山东科技大学机械电子工程学院;山东省交通科学研究院;
【分类号】：U418.3
【正文快照】： 0前言该装置作为交通锥自动收放车的重要组成部分,针对一种交通锥回收机械手,如图1所示。可将交通锥保持平动地越过拾取装置并稳定落向横向传送装置[1]。其结构及动态特性直接影响交通锥回收的稳定性。液压缸与主臂形成了工作性变幅机构[2],当液压缸收缩时主臂在液压缸拉动下

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