高位堆垛叉车柔性举升运动规划研究

为了提高堆垛效率、减小系统冲击,对高位堆垛叉车举升运动进行了运动规划研究。对叉车纵向稳定性进行了动力学分析,给出了最大举升加速度和高位堆垛叉车举升运动三角函数加减速算法,并对举升运动可能存在的三种运动情况进行了分析。结合叉车具体参数,对高位堆垛叉车举升运动进行了仿真研究,仿真结果表明:提出的三角函数加减速算法在保证堆垛效率的前提下,可有效减小系统冲击,实现柔性举升。

Research on flexible lifting motion planning of high-level stacking forklift

In order to improve the stacking efficiency and reduce the impact force of the system,the motion planning of the lifting motion of the high-level stacking forklift was studied.Firstly,the longitudinal stability of forklifts was analyzed dynamically,and the maximum lifting acceleration was proposed.Secondly,the acceleration and deceleration algorithm of lifting trigonometric function of high-level stacking forklift trucks was presented,and three possible movements of lifting movement were analyzed.Finally,combined with specific forklift parameters,the lifting motion of high-position stacking forklifts was simulated,and results show that the proposed trigonometric function acceleration and deceleration algorithm can effectively reduce the impact force of the system and realize flexible lifting while ensuring stacking efficiency.