拆解机工作装置运动学分析与仿真

以拆解机为研究对象,利用D-H方法对拆解机工作装置进行运动学数学建模,获得相应的正向运动学方程,结合蒙特卡罗法在MATLAB中进行仿真,得到拆解机工作空间模拟图,明确运动过程中的极限位置及其与拆解机各部件尺寸的关系。建立拆解机工作装置虚拟样机模型,利用ADAMS软件对结构进行运动仿真,得到工作装置运动过程中的空间轨迹仿真曲线。与MATLAB中的工作空间模拟图进行对比后可知,两者基本一致。分析结果表明:应用D-H坐标系及蒙特卡罗法对拆解机进行运动学分析和仿真,能够在得到的结果具有一定正确性的同时提高设计效率,为拆解机实际应用提供参考。

Kinematics Simulation Analysis for Dismantling Machine in D-H Coordinates

Taking dismantling machine as the research object, the kinematical mathematic model was established by using the D-H method. The positive kinematics equation of the model was obtained. Combining with Monte Carlo method, the nephogram of workspace was obtained, and the limit position and the relationship with each part of the working device were defined. Then the three dimensional model was established for simulation in ADAMS. The simulation of the structure was carried out, and the trajectory curve of hydraulic shear was gotten. In comparison of the working space diagram, the two results were basically consistent. The analysis result shows that the D-H coordinates and the Monte Carlo method can improve the design efficiency and provide reference for the actual application of dismantling machine.