杠杆平衡式起竖机构的建模与运动轨迹规划

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振动与冲击 ›› 2017, Vol. 36 ›› Issue (16) : 212-217.

论文

杠杆平衡式起竖机构的建模与运动轨迹规划

刘毓希，高钦和，牛海龙，程祥瑞

作者信息 +

Modeling and Trajectory planning of Leveraged Balance on Lifting Mechanism

LIU Yu-xi，GAO Qin-he，NIU Hai-long，CHEN Xiang-rui

Author information +

文章历史 +

摘要

针对特种车辆起竖过程中多级缸换级负载冲击大等问题，采用单级缸驱动的杠杆平衡式起竖机构，并建立了该机构的数学模型，推导出机构输入与输出之间的表达关系式；针对机构不同的运动情况对整体性能影响大的问题，提出采用正向规划和逆向求解规划的运动轨迹规划方法，并分析了这两种方法在不同场合下的适用情况。仿真与实验结果表明：该方法所建立的数学模型是正确的，且电动缸伸出长度与起竖角度有直接的数学关系；电动缸的运动速度与负载的起竖角速度有间接的比例关系，这说明在无传感器的情况下就可以监测负载的运动状况，为起竖机构运动规划时临界条件的判断以及今后的研究提供了重要的理论参考依据；正向轨迹规划有利于机构的快速起竖和减少最大输出功率，逆向轨迹规划有利于机构的平稳起竖。

Abstract

The single-stage cylinder leveraged balance lifting solutions was proposed to solve multistage cylinder change-stage impact in lifting mechanism whose mathematical model is build, and Expression relationship of input and output is Derived; For question that different movement have a major impact on overall performance, application of different occasions is analyzed by adopting forward planning and reverse planning. The simulation and experimental results show that the mathematical model established is corrected. Electric cylinder extending length has the relationship with erection angle directly; Movement speed of the electric cylinder and the erecting angular velocity of the load is indirectly linked. It shows that the movement of the load is known under no circumstances sensor which provides an important theoretical basis for analyzing Critical Condition in erecting mechanism motion planning and future research; Forward planning have an advantage on fast erection and reducing the maximum output power and reverse trajectory planning mechanism is in favor of a smooth erector.

导出引用

刘毓希，高钦和，牛海龙，程祥瑞. 杠杆平衡式起竖机构的建模与运动轨迹规划[J]. 振动与冲击, 2017, 36(16): 212-217

LIU Yu-xi，GAO Qin-he，NIU Hai-long，CHEN Xiang-rui. Modeling and Trajectory planning of Leveraged Balance on Lifting Mechanism[J]. Journal of Vibration and Shock, 2017, 36(16): 212-217

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