| 混凝土泵车臂架位姿方程建立及相关参数分析 |
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| 引用本文： | 高凤阳,王珊,张亚.混凝土泵车臂架位姿方程建立及相关参数分析[J].机电产品开发与创新,2014(2):12-14. |
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| 作者姓名： | 高凤阳 王珊 张亚 |
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| 作者单位： | 沈阳建筑大学交通与机械工程学院; |
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| 摘 要： | 通过研究和分析一种混凝土泵车的臂架系统,得到混凝土泵车臂架系统的关节角与末端位置的正解和反解,为实现混凝土泵车臂架系统的自动化控制提供理论基础.论文利用机器人D-H法理论,建立混凝土泵车臂架系统数学模型.结果表明D-H法建立的混凝土泵车臂架系统的数学模型可以满足关节角与末端位置的正反解的求解过程,提出的反解方法满足混凝土泵车的实际工作特点和要求,也满足反解的唯一性要求.
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| 关 键 词： | 混凝土泵车 D-H法 位姿 关节角 正反解 |
The Establishment of the Concrete Pump Truck Boom Pose Equation and the Analysis of Correlation Parameter |
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| GAO Feng-Yang,WANG Shan,ZHANG Ya.The Establishment of the Concrete Pump Truck Boom Pose Equation and the Analysis of Correlation Parameter[J].Development & Innovation of Machinery & Electrical Products,2014(2):12-14. |
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| Authors: | GAO Feng-Yang WANG Shan ZHANG Ya |
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| Affiliation: | (Institute of Transportation and Mechanical Engineering Shenyang Jianzhu University, Shenyang Liaoning 110168, China) |
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| Abstract: | Through the research and analysis of a concrete pump truck boom system, positive and negative solutions to joint angle and terminal position of concrete pump truck boom system are given. The result realizing automation of concrete pump truck boom system provides a theoret- ical basis. In the paper, D-H method is used to estabhsh athematical model of concrete pump truck boom systerrLThe results show that it can satisfy the solving process of joint angle and terminal position and actual working feature and request.It also satisfies the request of the only solution. |
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| Keywords: | concrete pump truck D-H method pose joint angles positive and negative solutions |
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