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| 草方格铺设机器人多体动力学仿真与试 | |
| 引用本文： | 刘晋浩,潘海兵,舒庆. 草方格铺设机器人多体动力学仿真与试[J]. 农业机械学报, 2009, 40(6): 153-157 |
| 作者姓名： | 刘晋浩 潘海兵 舒庆 |
| 作者单位： | 1. 北京林业大学工学院,北京,100083 2. 东北林业大学机电工程学院,哈尔滨,150040 3. 哈尔滨理工大学机械动力学院,哈尔滨,150080 |
| 摘 要： | 采用Pro/E和ADAMS软件相结合的方法,建立了草方格铺设机器人动力学模型,同时探讨了二者联合建模仿真的一般步骤.模型添加必要的边界条件后,对纵向压轮和横向插刀正常动作时的草方格铺设机器人振动状态进行了仿真.通过仿真,得到了牵引车、纵向铺设机构、横向铺设机构、纵向压轮和横向插刀质心的位移、速度以及加速度曲线.分析了这些曲线出现波动的原因,为进一步的优化提供了数据.通过试验,得到实际状态下的试验曲线,并与仿真曲线进行对照,证实了草方格铺设机器人仿真模型和仿真结果的合理性和可靠性. |
| 关 键 词： | 草方格 机器人 多体动力学 仿真分析 |
-body Dynamic Simulation and Experiments of the Straw-checkerboard Barriers Paving Robot |
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| Liu Jinhao,Pan Haibing,Shu Qing. -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 | |
| Authors: | Liu Jinhao Pan Haibing Shu Qing |
| Affiliation: | 1.School of Technology;Beijing Forestry University;Beijing 100083;China 2.College of Electromechanical Engineering;Northeast Forestry University;Harbin 150040;China 3.School of Mechanical & Power Engineering;Harbin University of Science and Technology;Harbin 150080;China |
| 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 mechanis... |
| Keywords: | Straw-checkerboard Robot Multi-body dynamic Simulation analysis |
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