大型救援装备机械臂多约束下安全工作范围研究

发布时间：2018-08-31 19:11

【摘要】：在各类灾害的救援过程中,大型救援装备具有功能单一的特点。因此,多种功能装备成为大型救援装备的一个重要发展趋势。机械臂是大型救援装备中的重要组成部分。研究机械臂的安全工作范围具有重要的意义。目前,大型救援装备中机械臂的研究主要集中在典型工作位置处的运动学和动力学分析及仿真,对于理想包络范围内油缸驱动力和机械臂箱体应力在机械臂任意角度、角速度和角加速度的情况下的研究甚少。本文将分别建立油缸驱动力、机械臂箱体应力与各机械臂角度、角速度和角加速度之间的关系,确定机械臂的安全工作范围,具体研究内容包括以下几个方面:首先,大型救援装备具有多功能的要求,分别为起重、载人、破拆、挖掘和举高等,本文分析了起重工况下分析卷扬机吊钩垂直于地面、多关节油缸极限量、多关节油缸卸载压强、最大载荷、多段机械臂结构及应力、多段机械臂极限角速度和多段机械臂极限角加速度这些约束条件。基于ADAMS仿真和样条插值,得到在卷扬机吊钩垂直于地面、多关节油缸极限量及多段机械臂结构这些约束条件下的机械臂的极限包络轨迹、衍生轨迹及理想包络范围。其次,将建立动臂、中间斗杆、斗杆三段机械臂油缸驱动力与它们角度、角速度和角加速度之间的关系。基于D-H矩阵法得到机械臂位姿描述、速度描述和加速度描述。基于KANE动力学方程,得到各油缸所提供力矩与机械臂角度、角速度和角加速度九个参数之间的关系,并将油缸驱动力矩转化为驱动压强,得到机械臂安全工作范围的第一判定依据是油缸压强小于卸载压强。最后,针对动臂和中间斗杆的耦合受力多加强板箱式结构,通过其分段受力与箱体的应力公式得到机械臂箱体各横截面的正应力和切应力与机械臂角度、角速度和角加速度之间的关系,得到机械臂安全工作范围的第二判定依据是箱体应力满足第三强度理论校核。基于Matlab对机械臂安全工作范围的判定依据,根据压强约束和应力约束,分别求第一和第二判定依据条件下的安全工作范围,最终得到机械臂的安全工作范围。
[Abstract]:In the rescue process of all kinds of disasters, large-scale rescue equipment has the characteristics of single function. Therefore, multi-functional equipment has become an important development trend of large-scale rescue equipment. Mechanical arm is an important part of large rescue equipment. It is of great significance to study the safety range of manipulator. At present, the research of robot arm in large rescue equipment is mainly focused on kinematics and dynamics analysis and simulation of typical working position. For the cylinder driving force and the stress of the robot arm box in the ideal envelope range, the mechanical arm is at any angle. There is little research on angular velocity and angular acceleration. In this paper, the relationship between the cylinder driving force, the stress of the mechanical arm box and the angle, angular velocity and angular acceleration of the manipulator is established, and the safe working range of the manipulator is determined. The specific research contents include the following aspects: first, Large-scale rescue equipment has multi-functional requirements, such as lifting, manned, breaking, digging and lifting. This paper analyzes the hoist hooks perpendicular to the ground under lifting conditions, the limit of multi-joint oil cylinders, and the unloading pressure of multi-joint oil cylinders. The constraints are maximum load, structure and stress of multi-segment manipulator, limit angular velocity of multi-segment manipulator and limit angular acceleration of multi-segment manipulator. Based on ADAMS simulation and spline interpolation, the limit envelope locus, derivative trajectory and ideal envelope range of the manipulator under the constraints of the hoist hooks perpendicular to the ground, the limit of the multi-joint cylinder and the structure of the multi-segment manipulator are obtained. Secondly, the relationship between the cylinder driving force and their angles, angular velocities and angular accelerations will be established. Based on D-H matrix method, the position and pose description, velocity description and acceleration description of the manipulator are obtained. Based on the KANE dynamic equation, the relationship between the torque provided by each cylinder and the angle, angular velocity and angular acceleration of the manipulator is obtained, and the driving moment of the cylinder is transformed into the driving pressure. The first criterion for the safe working range of the manipulator is that the cylinder pressure is less than the unloading pressure. Finally, in view of the coupling force between the moving arm and the middle bucket bar, the normal stress and shear stress and the angle of the mechanical arm are obtained through the segmental force and the stress formula of the box. According to the relationship between angular velocity and angular acceleration, the second criterion of the safe working range of the manipulator is the theoretical verification of the box stress satisfying the third strength. Based on Matlab, the safe working range of the manipulator is obtained according to the pressure constraint and the stress constraint, and the safety working range under the condition of the first and the second decision basis is obtained respectively, and finally the safe working range of the manipulator is obtained.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

【参考文献】