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在对混凝土湿喷机工作臂的结构分析的基础上,运用机器人机械手的运动分析原理,建立了工作臂的关节式机械系统运动分析模型,利用矩阵法和齐次变换数学工具推导了固定坐标系下的喷射头的运动学方程,并应用Matlab对工作臂的运动轨迹进行了仿真和验证。运动臂的分析和仿真为混凝土湿喷机操作人员提供了控制喷射头位姿的依据、为设备的可视化监视系统和自动控制系统的研究与设计奠定了基础。
Based on the analysis of the structure of the working arm of the wet concrete spraying machine, the motion analysis model of the articulated mechanical system of the working arm was established by using the principle of motion analysis of the robot manipulator. The fixed coordinate system was deduced by using the matrix method and the homogeneous transformation mathematical tool Under the jet head kinematics equation, and the application of Matlab on the trajectory of the working arm simulation and verification. The analysis and simulation of the moving arm provide basis for the operator of wet concrete spraying machine to control the position and posture of the spray head, which lays the foundation for the research and design of visual monitoring system and automatic control system of the equipment.