移载机械手提升手臂装置的运动学分析

摘要

对全液压铅残极板移载机械手提升手臂装置进行运动学分析.通过对移载机械手提升机构进行建模并实现简化,采用正向运动学和逆向运动学的分析方法,建立起支撑杆的位移、速度、加速度与对应液压缸的位移、速度、加速度之间的关系.通过仿真软件对所得的运动学方程进行了验证,提高最终结果的准确性.利用所得到的研究结果,可以为移载机械手的动力学分析、运动轨迹规划和控制系统及液压系统的设计提供重要依据.%The purpose of the article is to analyze the kinematics of the elevated arm device of the full hydraulic residual anode plate carrying manipulator.Based on the simplified model of the lifting mechanism,this research applies the analytical methods of the forward kinematics and the inverse kinematics,establishes the relationships between the displacement,velocity of the supporting pole and those of the hydraulic cylinder.Besides,the kinematics equations are verified by using the simulation software,which can improve the accurateness of the final results.The results of the study can provide the important basis for kinetic analysis,trajectory planning and the design of control system and hydraulic system.