Simulation of Automatic Planning Process in the Poured Area of Vehicle-Mounted Boom-Mast

摘要

Automation of construction machines can decrease labor intensity of workers and its level of automation becomes high more and more. In this study, we will study the automatic trajectory planning of the end-port of boom-mast with redundant degrees of freedom, to improve the automatic performance of the vehicle-mounted boom-mast A new algorithm for automatic trajectory planning is proposed in order to improve the automation degree of concrete pump car. By discretization to a concrete-poured area, by trajectory planning to each concrete-poured segment using the minimal joint torque method, and by automatic connection and automatic adjustment to every point of inflexion between two concrete-poured segments, the algorithm makes the automatic trajectory planning of any given concrete-poured area possible and makes the amount of the poured concrete even in the given area. The automatic planning simulations to a circle trajectory and a rectangle area are carried out, respectively, in order to test its validity of the proposed algorithm. The simulation results show that the motion gesture of the boom-mast arms calculated by the automatic planning algorithm is satisfying, and the automatic planning algorithm has a good robustness.