摘要
根据冗余自由度理论设计了一款新型攀升机构,采用单电机驱动。研究了攀升机构的攀升步态以及攀升位移参数推导;利用Solid Works中的Motion插件对攀升机构的攀升过程进行运动学仿真,分析了攀升过程上、下以及过渡平台的位移运动曲线。仿真结果表明,上工作平台在1个周期(输出轴角位移为1 440°)内可完成4 mm的上升距离,过渡平台在1个周期内完成4mm的推升,下工作平台在1个周期内完成了7.8mm的推升,平台推升平稳无明显波动。对上升平台进行角度变化测试,效果较好,可实现一定角度的偏转(9°)。攀升机构的整体攀升性能较好、稳定性较好。
A new type of climbing mechanism is designed according to the theory of redundant degrees of freedom, which is driven by a single motor. The climbing gait of the climbing mechanism and the derivation and calculation of climbing displacement parameters are studied. The motion plug-in in SolidWorks is used to simulate the climbing process of the climbing mechanism, and the displacement movement curve of the upper, lower and transition platform during the climbing process is analyzed. The simulation results show that the upper working platform can complete a 4 mm ascent distance in one cycle(the output shaft angular displacement is 1 440°), the transition platform completes a 4 mm push-up in one cycle, and the lower working platform completes 7.8 mm in one cycle. The platform is lifted smoothly with no obvious fluctuations when the platform is lifted up by mm, and the angle change test of the rising platform is performed. The effect is good, and a certain angle of deflection(9°) can be achieved. The overall climbing performance of the climbing mechanism is good and the stability is good.
作者
谢浩
张敏良
龚楠
柴宁生
史春光
Xie Hao;Zhang Minliang;Gong Nan;Chai Ningsheng;Shi Chunguang(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《农业装备与车辆工程》
2023年第1期135-139,共5页
Agricultural Equipment & Vehicle Engineering
关键词
攀升机构
变角机构
步态分析
运动学仿真
climbing mechanism
variable angle mechanism
gait analysis
kinematics simulation
作者简介
谢浩(1997-),男,安徽芜湖人,硕士研究生,研究方向:非标装备设计。E-mail:1601005068@qq.com;通信作者:张敏良,男,教授级高级工程师。E-mail:jx9988@163.com。
