基于ADAMS的喷浆液压机械臂动力学仿真分析OA
Dynamics Simulation Analysis of Shotcrete Hydraulic Manipulator Based on ADAMS
为解决煤矿巷道喷浆支护作业机械智能化程度低、喷浆均匀性差、工作效率低、工人劳动强度大、工作环境恶劣等难题,分析现有某新型六自由度喷浆液压机械臂方案,并进行机械臂运动学方程推导及动力学仿真.首先采用标准D-H法建立其连杆坐标系,研究机械臂的坐标系及其变换,通过齐次变换矩阵计算,借助Matlab软件求解并化简,得到机械臂正运动学方程.采用Solidworks软件对机械臂的大臂、中臂、小臂、混凝土喷嘴及各回转关节进行机械结构三维建模,导入ADAMS软件…查看全部>>
To solve the problems of low intelligence,poor uniformity,low work efficiency,high labor intensity,and harsh working environment of coal mine tunnel shotcrete support operation machinery,an existing six degree of freedom shotcrete hydraulic mechanical arm scheme is analyzed,and the kinematic equation derivation and dynamic simulation of the mechanical arm are carried out.Firstly,the standard D-H method is used to establish its linkage coordinate system,and t…查看全部>>
聂海男;邓立营
沈阳工业大学化工装备学院,沈阳 111000沈阳工业大学化工装备学院,沈阳 111000
矿山工程
喷浆支护液压机械臂ADAMS仿真多体动力学
shotcrete supporthydraulic mechanical armADAMS simulationmultibody dynamics
《机电工程技术》 2024 (8)
211-214,4
新疆国家重大工程科研计划项目(EQ057/FY056)
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