【摘要】：在各類災害的救援過程中,大型救援裝備具有功能單一的特點。因此,多種功能裝備成為大型救援裝備的一個重要發(fā)展趨勢。機械臂是大型救援裝備中的重要組成部分。研究機械臂的安全工作范圍具有重要的意義。目前,大型救援裝備中機械臂的研究主要集中在典型工作位置處的運動學和動力學分析及仿真,對于理想包絡范圍內(nèi)油缸驅(qū)動力和機械臂箱體應力在機械臂任意角度、角速度和角加速度的情況下的研究甚少。本文將分別建立油缸驅(qū)動力、機械臂箱體應力與各機械臂角度、角速度和角加速度之間的關系,確定機械臂的安全工作范圍,具體研究內(nèi)容包括以下幾個方面:首先,大型救援裝備具有多功能的要求,分別為起重、載人、破拆、挖掘和舉高等,本文分析了起重工況下分析卷揚機吊鉤垂直于地面、多關節(jié)油缸極限量、多關節(jié)油缸卸載壓強、最大載荷、多段機械臂結(jié)構(gòu)及應力、多段機械臂極限角速度和多段機械臂極限角加速度這些約束條件�；贏DAMS仿真和樣條插值,得到在卷揚機吊鉤垂直于地面、多關節(jié)油缸極限量及多段機械臂結(jié)構(gòu)這些約束條件下的機械臂的極限包絡軌跡、衍生軌跡及理想包絡范圍。其次,將建立動臂、中間斗桿、斗桿三段機械臂油缸驅(qū)動力與它們角度、角速度和角加速度之間的關系�；贒-H矩陣法得到機械臂位姿描述、速度描述和加速度描述。基于KANE動力學方程,得到各油缸所提供力矩與機械臂角度、角速度和角加速度九個參數(shù)之間的關系,并將油缸驅(qū)動力矩轉(zhuǎn)化為驅(qū)動壓強,得到機械臂安全工作范圍的第一判定依據(jù)是油缸壓強小于卸載壓強。最后,針對動臂和中間斗桿的耦合受力多加強板箱式結(jié)構(gòu),通過其分段受力與箱體的應力公式得到機械臂箱體各橫截面的正應力和切應力與機械臂角度、角速度和角加速度之間的關系,得到機械臂安全工作范圍的第二判定依據(jù)是箱體應力滿足第三強度理論校核。基于Matlab對機械臂安全工作范圍的判定依據(jù),根據(jù)壓強約束和應力約束,分別求第一和第二判定依據(jù)條件下的安全工作范圍,最終得到機械臂的安全工作范圍。
[Abstract]:In the rescue process of all kinds of disasters, large-scale rescue equipment has the characteristics of single function. Therefore, multi-functional equipment has become an important development trend of large-scale rescue equipment. Mechanical arm is an important part of large rescue equipment. It is of great significance to study the safety range of manipulator. At present, the research of robot arm in large rescue equipment is mainly focused on kinematics and dynamics analysis and simulation of typical working position. For the cylinder driving force and the stress of the robot arm box in the ideal envelope range, the mechanical arm is at any angle. There is little research on angular velocity and angular acceleration. In this paper, the relationship between the cylinder driving force, the stress of the mechanical arm box and the angle, angular velocity and angular acceleration of the manipulator is established, and the safe working range of the manipulator is determined. The specific research contents include the following aspects: first, Large-scale rescue equipment has multi-functional requirements, such as lifting, manned, breaking, digging and lifting. This paper analyzes the hoist hooks perpendicular to the ground under lifting conditions, the limit of multi-joint oil cylinders, and the unloading pressure of multi-joint oil cylinders. The constraints are maximum load, structure and stress of multi-segment manipulator, limit angular velocity of multi-segment manipulator and limit angular acceleration of multi-segment manipulator. Based on ADAMS simulation and spline interpolation, the limit envelope locus, derivative trajectory and ideal envelope range of the manipulator under the constraints of the hoist hooks perpendicular to the ground, the limit of the multi-joint cylinder and the structure of the multi-segment manipulator are obtained. Secondly, the relationship between the cylinder driving force and their angles, angular velocities and angular accelerations will be established. Based on D-H matrix method, the position and pose description, velocity description and acceleration description of the manipulator are obtained. Based on the KANE dynamic equation, the relationship between the torque provided by each cylinder and the angle, angular velocity and angular acceleration of the manipulator is obtained, and the driving moment of the cylinder is transformed into the driving pressure. The first criterion for the safe working range of the manipulator is that the cylinder pressure is less than the unloading pressure. Finally, in view of the coupling force between the moving arm and the middle bucket bar, the normal stress and shear stress and the angle of the mechanical arm are obtained through the segmental force and the stress formula of the box. According to the relationship between angular velocity and angular acceleration, the second criterion of the safe working range of the manipulator is the theoretical verification of the box stress satisfying the third strength. Based on Matlab, the safe working range of the manipulator is obtained according to the pressure constraint and the stress constraint, and the safety working range under the condition of the first and the second decision basis is obtained respectively, and finally the safe working range of the manipulator is obtained.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP241

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