Modeling and Trajectory planning of Leveraged Balance on Lifting Mechanism

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Journal of Vibration and Shock ›› 2017, Vol. 36 ›› Issue (16) : 212-217.

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

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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.

Key words

Leveraged Balance on Lifting Mechanism / Mathematical model / trajectory planning / No sensor measurements

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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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