自行式混合臂高空作业车工作机构特殊轨迹研究与设计

发布时间：2018-07-10 06:01

本文选题：高空作业车 + 优化设计　；参考：《长安大学》2013年硕士论文

【摘要】：混合臂高空作业车工作机构以其多关节、工作形式多样的特性，使之在诸多领域得到广泛应用。工作机构的动力学特性对整车的安全和性能有重要影响，而且在某些特殊情况下需要严格控制工作栏的运动轨迹。本文结合Pro/E、ADAMS、MATLAB、1st0pt等软件,采用联合仿真方法建立了自行式混合臂高空作业车虚拟样机，对工作机构的动力学特性，及其实现特殊轨迹运动的方法进行了研究，主要工作如下： (1)设计工作机构主要参数，建立工作机构的简化模型，采用解析法对变幅机构作用力进行分析和计算，并编制MTALAB程序，给出了变幅缸受力曲线。 (2)应用1st0pt软件对各个变幅液压缸铰点进行优化设计。通过对比设计，选择了合适的变幅液压缸及其铰点位置，从而达到铰点位置优化的目的。 (3)在Pro/E中建立自行式混合臂高空作业车虚拟样机模型，并与ADAMS联合仿真，获得在工作机构仿真运动过程中各变幅缸的受力情况，结果表明工作臂、变幅缸设计合理。 (4)建立工作机构的D-H模型，对工作机构进行运动学分析，在理论上研究工作机构实现特殊轨迹运动的方法。并借助MATLAB软件分析工作机构实现平面运动和空间运动所需的相关信息。 (5)调整ADAMS中三维虚拟样机模型，将MATLAB所得信息导入三维模型的关节中，得到工作栏在特殊轨迹运动过程中速度稳定，加速度波动小于20mm/s2。充分利用多个软件各自的优势，借助虚拟样机仿真分析方法，提出了自行式混合臂高空作业车工作机构实现特殊轨迹运动的方法，，该方法为高空作业车自动化控制系统的研发及整车的改进提供了理论基础。
[Abstract]:The working mechanism of the mixed arm aerial work vehicle has been widely used in many fields because of its multi-joints and various working forms. The dynamic characteristics of the working mechanism have an important effect on the safety and performance of the whole vehicle, and the track of the work bar should be strictly controlled under some special circumstances. In this paper, a virtual prototype of a self-propelled hybrid arm aerial work vehicle is established by using the software Pro-EDAMS MATLAB 1st0pt and so on. The dynamic characteristics of the working mechanism and the method of realizing the special trajectory motion are studied. The main work is as follows: (1) the main parameters of the working mechanism are designed, the simplified model of the working mechanism is established, the analytical method is used to analyze and calculate the force of the luffing mechanism, and the MTAlab program is compiled. The stress curve of the variable amplitude cylinder is given. (2) the optimal design of the hinge points of the variable amplitude hydraulic cylinder is carried out by using 1st0pt software. By comparing the design, the suitable position of the variable amplitude hydraulic cylinder and its hinge point is selected to optimize the hinge position. (3) the virtual prototype model of the self-propelled hybrid arm aerial work vehicle is established in Pror / E, and the simulation is combined with Adams. The results show that the design of the working arm and the variable amplitude cylinder is reasonable. (4) the D-H model of the working mechanism is established, and the kinematics analysis of the working mechanism is carried out. In theory, the method of realizing the special trajectory motion of the working mechanism is studied. And with the help of MATLAB software to analyze the work mechanism to achieve the plane motion and space motion of the relevant information. (5) adjust the three-dimensional virtual prototype model in Adams, the MATLAB information into the three-dimensional model of the joint, The results show that the speed of the work bar is stable in the course of special track motion, and the acceleration fluctuation is less than 20mm / s ~ (2). Taking full advantage of the advantages of many software and using the method of simulation and analysis of virtual prototyping, the method of realizing the special track movement of the self-propelled hybrid arm aerial work vehicle working mechanism is put forward. The method provides a theoretical basis for the research and development of the automatic control system of aerial vehicle and the improvement of the whole vehicle.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TH211.6;U469.6

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