机电工程技术2024，Vol.53Issue(5)：38-42,5.DOI:10.3969/j.issn.1009-9492.2024.05.009
球磨机换衬机械臂运动学分析及仿真模拟
Kinematics Analysis and Simulation of Ball Mill Interlining Manipulator
摘要
Abstract
In order to improve the efficiency of liner replacement of ϕ5 600×8 842 for M-shaped ball mill,a ball mill liner replacement mechanical arm with six degrees of freedom is designed independently,and the three-dimensional model of ball mill liner replacement mechanical arm and cylinder with Solidworks software are established.Then the D-H parameter method is used to establish the connecting rod coordinate system of the manipulator,and the transformation matrix of the connecting rod of each joint is obtained.The joint variable values are substituted according to the actual working requirements of the manipulator,and the forward and inverse kinematics analysis and calculation of the manipulator are carried out.The trajectory planning of the manipulator is carried out with the quintic polynomial interpolation method.Finally,the kinematics of the manipulator is modeled in MATLAB by using SerialLink function,and the workspace analysis and trajectory planning simulation are carried out to test the rationality of the kinematics of the manipulator.The results show that the interlining process of the mechanical arm is smooth and stable,and its working space conforms to the cylinder structure,which can effectively improve the interlining efficiency of the ball mill.关键词
六自由度/运动学求解/工作空间分析/轨迹规划Key words
six-DOF/kinematics solution/workspace analysis/trajectory planning分类
信息技术与安全科学引用本文复制引用
张旭阳,邓立营,王小永..球磨机换衬机械臂运动学分析及仿真模拟[J].机电工程技术,2024,53(5):38-42,5.基金项目
新疆国家重大工程科研计划项目(EQ075/FY056) （EQ075/FY056）
