草方格鋪設(shè)機(jī)器人多體動力學(xué)仿真與試

doi:10.3969/j.issn.1000-1298.[year].[issue].[sequence]

首頁 > 過刊瀏覽>2009年第40卷第6期 >153-157. DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]

草方格鋪設(shè)機(jī)器人多體動力學(xué)仿真與試
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                        10.3969/j.issn.1000-1298.[year].6.[sequence]
                    
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-body Dynamic Simulation and Experiments of the Straw-checkerboard Barriers Paving Robot

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采用Pro/E和ADAMS軟件相結(jié)合的方法，建立了草方格鋪設(shè)機(jī)器人動力學(xué)模型，同時(shí)探討了二者聯(lián)合建模仿真的一般步驟。模型添加必要的邊界條件后，對縱向壓輪和橫向插刀正常動作時(shí)的草方格鋪設(shè)機(jī)器人振動狀態(tài)進(jìn)行了仿真。通過仿真，得到了牽引車、縱向鋪設(shè)機(jī)構(gòu)、橫向鋪設(shè)機(jī)構(gòu)、縱向壓輪和橫向插刀質(zhì)心的位移、速度以及加速度曲線。分析了這些曲線出現(xiàn)波動的原因，為進(jìn)一步的優(yōu)化提供了數(shù)據(jù)。通過試驗(yàn)，得到實(shí)際狀態(tài)下的試驗(yàn)曲線，并與仿真曲線進(jìn)行對照，證實(shí)了草方格鋪設(shè)機(jī)器人仿真模型和仿真結(jié)果的合理性和可靠性。

Abstract:

The multi-body dynamic model of the straw-checkerboard barriers paving robot is built through the combination of the Pro/E and ADAMS software. After the model is added with the required boundary conditions, the vibration state of the strawcheckerboard barriers paving robot is simulated when the pressing wheel and insert blade work normally. Through the simulation, the displacement, velocity and acceleration curves of the mass centers to the robot’s tractor, longitudinal paving mechanism, horizontal paving mechanism, pressing wheel and insert blade are obtained. Through the analysis of the fluctuation curves, the improvement solution is proposed, which provides data for further optimization of the robot. At last, the experiment curves in the actual state are obtained by the experiment. By the contrast of the experiment and simulation curves, it is confirmed that the simulation results of the straw-checkerboard barriers paving robot are reasonable and reliable.

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劉晉浩,潘海兵,舒慶.草方格鋪設(shè)機(jī)器人多體動力學(xué)仿真與試[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2009,40(6):153-157.-body Dynamic Simulation and Experiments of the Straw-checkerboard Barriers Paving Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(6):153-157.

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