三自由度液压机械臂自动整平系统设计与研究

针对水下抛石基床整平需求，设计一套基于挖掘机三自由度液压机械臂的自动整平系统。对臂架机械结构进行适应性改造，通过试验计算其作业负载，结合有限元法验证改造结构的可靠性。基于D-H法和几何法搭建臂架正、逆运动学模型，将铲尖轨迹运动转换为臂架各构件的协同控制。设计基于PID控制的臂架电液比例位置控制系统，通过AMESim验证了臂架驱动控制系统方案的可行性。结合北斗定位技术，搭建臂架自动整平系统架构，提出适用于工程应用场景的定位、整平作业流程。最后，通过工程试验和应用对自动整平系统进行了验证。试验和应用结果表明：采用三自由度液压机械臂的基床整平效率更高、成本更低，整平精度也满足施工要求。

Design and Research of Automatic Leveling System for Three Degrees of Freedom Hydraulic Boom

An automatic leveling system based on three degrees of freedom hydraulic boom of excavator was designed to meet the leveling requirements of underwater riprap foundation.The mechanical structure of the boom was reformed,and the working load was calculated by experiments,and the reliability of the modified structure was verified by finite element method.The forward and inverse kinematics models of the boom were built based on D-H method and geometric method,and the trajectory motion of the shovel tip was transformed into the cooperative control of the boom components.The electro-hydraulic proportional position control system of the boom was designed based on PID control,and the feasibility of the drive control system of the boom was verified by AMESim.Combined with Beidou positioning technology,the framework of the automatic leveling system of the boom was built,and the positioning and leveling process suitable for engineering application scenarios was proposed.Finally,the automatic leveling system was verified by engineering test and application.The test and application results show that the leveling efficiency and cost of the three degrees of freedom hydraulic manipulator are higher,and the leveling accuracy also meets the construction requirements.