高级检索

留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

步进式横向插刀机构的运动学求解与轨迹规划

隋婷婷 刘晋浩 唐伟国

隋婷婷, 刘晋浩, 唐伟国. 步进式横向插刀机构的运动学求解与轨迹规划[J]. 北京林业大学学报, 2017, 39(10): 109-116. doi: 10.13332/j.1000-1522.20170213
引用本文: 隋婷婷, 刘晋浩, 唐伟国. 步进式横向插刀机构的运动学求解与轨迹规划[J]. 北京林业大学学报, 2017, 39(10): 109-116. doi: 10.13332/j.1000-1522.20170213
SUI Ting-ting, LIU Jin-hao, TANG Wei-guo. Kinematics solution and trajectory planning of stepping transverse slotting mechanism[J]. Journal of Beijing Forestry University, 2017, 39(10): 109-116. doi: 10.13332/j.1000-1522.20170213
Citation: SUI Ting-ting, LIU Jin-hao, TANG Wei-guo. Kinematics solution and trajectory planning of stepping transverse slotting mechanism[J]. Journal of Beijing Forestry University, 2017, 39(10): 109-116. doi: 10.13332/j.1000-1522.20170213

步进式横向插刀机构的运动学求解与轨迹规划

doi: 10.13332/j.1000-1522.20170213
基金项目: 

国家科技支撑计划项目 2015BAD07B00

详细信息
    作者简介:

    隋婷婷,博士生。主要研究方向:森林工程及其自动化。Email:296654017@qq.com   地址:100083 北京市海淀区清华东路35号北京林业大学工学院

    责任作者:

    刘晋浩,教授,博士生导师。主要研究方向:林业与环境特种装备的研制与开发。Email:liujinhao@vip.163.com   地址:同上

  • 中图分类号: S776

Kinematics solution and trajectory planning of stepping transverse slotting mechanism

  • 摘要: 根据机构学原理,提出一种多杆步进式并联横向插草机构。通过Matlab软件求解运动学模型得到插刀机构标记点插草过程中连续变化的曲线, 利用fsolve函数进行插刀标记点的轨迹规划,借助Creo2.0对步进式插刀机构进行三维建模,并在ADAMS中对插刀机构作业时常设置的纵向宽900、1 000和1 100 mm这3种情况进行运动仿真,通过标记点P的运动轨迹分析步进式插刀机构的作业性能。结果表明:与旋转式插刀相比,步进式插刀机构具有良好的作业效率与精度,且操作灵活,能够满足铺设草方格的作业要求。

     

  • 图  1  横向插草系统原理图

    1.横向输送草机构; 2.横向推草机构; 3.多杆步进式并联插刀机构; 4.干草; 5.沙地。

    Figure  1.  Transverse insert straw system

    1.Transverse conveyance mechanism; 2.Transverse pushing mechanism; 3.Multi rod stepping type parallel slotting mechanism; 4.Straw; 5.Sandland.

    图  2  草沙障示意图

    b为草沙障的宽度; h为草沙障的插入深度。

    Figure  2.  Sketch map of straw barrier

    b is the width of straw barrier, and h is the insertion depth of straw barrier.

    图  3  多杆步进式并联插刀机构

    1和2为对称六杆机构。

    Figure  3.  Multi rod stepping type parallel slotting mechanism

    1 and 2 are the symmetrical six rod mechanisms.

    图  4  多杆步进式并联插刀机构运动学模型

    L0:杆件OD长度,mm;θ0ODx轴夹角, °;L1:杆件OB长度,mm;θ1OBx轴夹角,°;L2:杆件BC长度,mm,L7:杆件CG长度,mm;θ2BGx轴夹角,°;L3:杆件CD长度,mm;θ3CDx轴的夹角,°;L4:杆件OE长度,mm;θ4OEx轴的夹角,°;L5:杆件EF长度,mm;θ5EFx轴的夹角,°;L6:杆件FG长度,mm;L8:杆件GP长度,mm;δFGGP夹角,°;θ6FGx轴夹角,°。

    Figure  4.  Kinematics model of multi rod stepping parallel slotting mechanism

    L0 is the length of rod OD, mm; θ0 is the angle between OD and x-axis, °; L1 is the length of rod OB, mm; θ1 is the angle between OB and x-axis, °; L2 is the length of part BC, mm; L7 is the length of part CG, mm; θ2 is the angle between BG and x-axis, °; L3 is the length of rod CD, mm; θ3 is the angle between CD and x-axis, °; L4 is the length of rod OE, mm; θ4 is the angle between OE and x-axis, °; L5 is the length of rod EF, mm; θ5 is the angle between EF and x-axis, °; L6 is the length of part FG, mm; L8 is the length of rod GP, mm; δ is the angle between FG and GP, °; and θ6 is the angle between FG and x-axis, °.

    图  5  多杆步进式并联插刀机构角运动学求解

    Figure  5.  Kinematics solution of mechanism angle of multi rod stepping type parallel slotting mechanism

    图  6  插刀顶端标注点P运动轨迹

    Figure  6.  Motion path of point P marked on the top of slotting mechanism

    图  7  不同杆长取值下插刀顶端标注点P的运动轨迹变化

    Figure  7.  Motion path of point P marked on the top of slotting mechanism varies with rod length

    图  8  插刀顶端标注点Pθ0θ4不同取值下的运动轨迹

    Figure  8.  8 Motion path of point P varies with θ0 and θ4

    图  9  插刀顶端标注点Pθ4不同取值下的运动轨迹

    Figure  9.  Motion path of point P varies with θ4

    图  10  插刀顶端标注点Pδ不同取值下的运动轨迹

    Figure  10.  10 Motion path of point P varies with δ

    图  11  Matlab仿真插刀顶端标注点P轨迹

    Figure  11.  Matlab simulation of motion path of the point P marked on the slotting tool

    图  12  插刀顶端标注点P运动轨迹的ADAMS仿真

    Figure  12.  ADAMS simulation of motion path of the point P marked on the slotting tool

  • [1] 李跃娟.草方格铺设机器人横向气动插草机构动力学仿真分析[D].哈尔滨: 东北林业大学, 2005. http://cdmd.cnki.com.cn/Article/CDMD-10225-2005136692.htm

    LI Y J. Dynamic simulation of pneumatic transverse paving mechanism in paving straw robot[D].Harbin: Northeast Forestry University, 2005. http://cdmd.cnki.com.cn/Article/CDMD-10225-2005136692.htm
    [2] 刘晋浩, 李跃娟, 齐巍.横向插草机构回位装置的优化设计[J].林业机械与木工设备, 2004, 32(9):31-32. doi: 10.3969/j.issn.2095-2953.2004.09.011

    LIU J H, LI Y J, QI W.Optimum design of return mechanism of transverse insertion mechanism[J].Forestry Machinery & Woodworking Equipment, 2004, 32(9):31-32. doi: 10.3969/j.issn.2095-2953.2004.09.011
    [3] 陆怀民, 郭秀荣, 赵志国, 等.防风固沙草方格铺设机器人沙漠通过性研究[J].中国工程机械学报, 2006, 4(4):389-393. doi: 10.3969/j.issn.1672-5581.2006.04.003

    LU H M, GUO X R, ZHAO Z G, et al. Desert trafficability study of trellis grass paving robot[J].Chinese Journal of Construction Machinery, 2006, 4(4):389-393. doi: 10.3969/j.issn.1672-5581.2006.04.003
    [4] 刘晋浩, 舒庆.草方格铺设机器人虚拟样机建模及平顺性分析[J].北京林业大学学报, 2007, 29(4):72-74. http://j.bjfu.edu.cn/article/id/8990

    LIU J H, SHU Q. Virtual prototype of straw-checkerboard sand barriers paving robot and ride comfort[J]. Journal of Beijing Forestry University, 2007, 29(4):72-74. http://j.bjfu.edu.cn/article/id/8990
    [5] 李玉印, 潘海兵, 刘晋浩.草方格铺设机构的研究与设计[J].林业机械与木工设备, 2009, 37(5):13-15. doi: 10.3969/j.issn.2095-2953.2009.05.004

    LI Y Y, PAN H B, LIU J H. Study and design of the straw-checker paving mechanism[J]. Forestry Machinery & Woodworking Equipment, 2009, 37(5):13-15. doi: 10.3969/j.issn.2095-2953.2009.05.004
    [6] 潘海兵, 刘晋浩.防风固沙机器人振动系统的研究[J].中国工程机械学报, 2008, 6(4):379-383. doi: 10.3969/j.issn.1672-5581.2008.04.001

    PAN H B, LIU J H. Study on vibration system for check-straw-paving robots[J]. Chinese Journal of Construction Machinery, 2008, 6(4):379-383. doi: 10.3969/j.issn.1672-5581.2008.04.001
    [7] 孙术发, 刘晋浩, 叶郁.防风固沙草方格铺设机器人横向割断机构的动力学分析[J].中国沙漠, 2011, 31(5):1087-1092. http://d.old.wanfangdata.com.cn/Periodical/zgsm201105002

    SUN S F, LIU J H, YE Y. Dynamics analysis on transverse cutting mechanism of straw checkerboard paving robot[J]. Journal of Desert Research, 2011, 31(5):1087-1092. http://d.old.wanfangdata.com.cn/Periodical/zgsm201105002
    [8] 唐伟国, 刘晋浩, 李村, 等.多杆横向插刀机构的运动学研究及仿真[J].机械工程与自动化, 2017(2):38-39. doi: 10.3969/j.issn.1672-6413.2017.02.016

    TANG W G, LIU J H, LI C, et al.Kinematics research and simulation of multibar transverse inserted knife mechanism[J].Mechanical Engineering and Automation, 2017(2):38-39. doi: 10.3969/j.issn.1672-6413.2017.02.016
    [9] HU X P, ZUO F Y. Research and simulation of robot trajectory planning in joint space[J]. Applied Mechanics & Materials, 2012, 103:372-377. http://d.old.wanfangdata.com.cn/Conference/WFHYXW632476
    [10] BAWAB S, KINZEL G L, WALDRON K J. Rectified synthesis of six-bar mechanisms with well-defined transmission angles for four-position motion generation[J]. Journal of Mechanical Design, 1996, 9(118): 377-383. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=0a7d0282cb3c5e55c09dd4a831d8ed48
    [11] SHIAKOLAS P S, KOLADIYA D, KEBRLE J. On the optimum synthesis of six-bar linkages using differential evolution and the geometric centroid of precision positions technique[J]. Mechanism & Machine Theory, 2003, 40(3): 319-335. http://cn.bing.com/academic/profile?id=ff26183058b83b51cd64fb62291cab47&encoded=0&v=paper_preview&mkt=zh-cn
    [12] CHAI F J, XU J Y, XU Y. Kinematics simulation of steel tube rotating mechanism based on ADAMS[J]. Applied Mechanics & Materials, 2012, 130:2647-2650. http://www.scientific.net/AMM.130-134.2647
    [13] LI C H, YANG B J, CAI G Q. Optimization design of 3-TPT parallel robot based on ADAMS simulation technology[C]//International Workshop on Intelligent Systems and Applications. New York: IEEE, 2009: 1-4. https://ieeexplore.ieee.org/document/5072992/
    [14] 司凯.立体固沙车横向铺设系统的设计与研究[D].北京: 北京林业大学, 2011. http://cdmd.cnki.com.cn/Article/CDMD-10022-1011134583.htm

    SI K. Design and research on stereo sand-fixing car's transverse-paving system[D].Beijing: Beijing Forestry http://cdmd.cnki.com.cn/Article/CDMD-10022-1011134583.htm
  • 加载中
图(12)
计量
  • 文章访问数:  1505
  • HTML全文浏览量:  225
  • PDF下载量:  26
  • 被引次数: 0
出版历程
  • 收稿日期:  2017-06-15
  • 修回日期:  2017-08-09
  • 刊出日期:  2017-10-01

目录

    /

    返回文章
    返回