液压支架逆向运动学分析
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摘要
针对现有液压支架正向运动学分析方法无法精确感知顶梁姿态的问题,提出了一种液压支架逆向运动学分析方法。采用SolidWorks软件及其Motion模块建立液压支架三维模型和Motion模型,通过解析液压支架动作来获取Motion数据库,采用三次多项式曲线拟合液压支架各驱动部件运动方程;采用粒子群优化算法优化驱动部件运动方程,得出最优拟合方程,从而得出液压支架最优运动轨迹。试验结果表明,该方法能够准确得出液压支架各驱动部件的运动轨迹,所得结果与实际运动曲线相符。
For problem that existing forward kinematics analysis methods of hydraulic support could not predict attitude of top beam accurately,an inverse kinematics analysis method of hydraulic support was put forward.3 D model and Motion model of hydraulic support were built by use of SolidWorks software and its Motion module.Motion database was obtained by analyzing motion of hydraulic support,and motion equation of each driving part in hydraulic support was fitted by use of cubic polynomial curve.Then the motion equations were optimized by use of particle swarm optimization algorithm to get the optimal motion equations,so as to obtain the optimal motion tracks of hydraulic support.The test result shows that the method can get motion track of each driving part of hydraulic support correctly,and the result is consistent with the actual one.
For problem that existing forward kinematics analysis methods of hydraulic support could not predict attitude of top beam accurately,an inverse kinematics analysis method of hydraulic support was put forward.3 D model and Motion model of hydraulic support were built by use of SolidWorks software and its Motion module.Motion database was obtained by analyzing motion of hydraulic support,and motion equation of each driving part in hydraulic support was fitted by use of cubic polynomial curve.Then the motion equations were optimized by use of particle swarm optimization algorithm to get the optimal motion equations,so as to obtain the optimal motion tracks of hydraulic support.The test result shows that the method can get motion track of each driving part of hydraulic support correctly,and the result is consistent with the actual one.
引文
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[3]王洪伟,董志峰.两柱掩护式液压支架机构运动学分析[J].机械传动,2015,39(4):125-128.WANG Hongwei,DONG Zhifeng.Mechanism kinematics analysis of two-leg shield hydraulic support[J].Journal of Mechanical Transmission,2015,39(4):125-128.
[4]杨磊,王新亚,许日成,等.反四连杆机构液压支架顶梁运动轨迹分析[J].矿山机械,2013,41(8):28-30.YANG Lei,WANG Xinya,XU Richeng,et al.Analysis on motion trajectory of top beam in hydraulic support with reverse four-bar linkage[J].Mining&Processing Equipment,2013,41(8):28-30.
[5]杜毅博.液压支架支护状况获取与模糊综合评价方法[J].煤炭学报,2017,42(增刊1):260-266.DU Yibo.Supporting condition acquisition and fuzzy comprehensive evaluation method for hydraulic support[J].Journal of China Coal Society,2017,42(S1):260-266.
[6]刘印,杨兆建.液压支架选型设计系统[J].工矿自动化,2017,43(11):94-97.LIU Yin,YANG Zhaojian.Type-selection design system for hydraulic support[J].Industry and Mine Automation,2017,43(11):94-97.
[7]于涛,刘秀杰,张玉娇,等.基于Pro/E的液压支架三维建模和运动仿真[J].工矿自动化,2016,42(4):81-82.YU Tao,LIU Xiujie,ZHANG Yujiao,et al.Threedimension modeling and motion simulation of hydraulic support based on Pro/E[J].Industry and Mine Automation,2016,42(4):81-82.
[8]李丝,杨德锋,袁周祥.基于MATLAB粒子群算法弧形钢闸门的优化设计[J].水利科技与经济,2017,23(10):1-5.LI Si,YANG Defeng,YUAN Zhouxiang.Optimization design of radial steel gate based on MATLAB particle swarm optimization algorithm[J].Water Conservancy Science and Technology and Economy,2017,23(10):1-5.
[9]吕微微,张宏立.基于协同进化粒子群算法的系统辨识[J].计算机仿真,2016,33(1):336-339.LYU Weiwei,ZHANG Hongli.Identification of system co-evolution based on particle swarm optimization algorithm[J].Computer Simulation,2016,33(1):336-339.
[10]张超,李擎,王伟乾,等.基于自适应搜索的免疫粒子群算法[J].工程科学学报,2017,39(1):125-132.ZHANG Chao,LI Qing,WANG Weiqian,et al.Immune particle swarm optimization algorithm based on the adaptive search strategy[J].Chinese Journal of Engineering,2017,39(1):125-132.
[11]SUN S H,YU T T,NGUYEN T T.Structural shape optimization by IGABEM and particle swarm optimization algorithm[J].Engineering Analysis with Boundary Elements,2018,88:26-40.
[12]杨振,付庄,管恩广,等.M-Lattice模块机器人的运动学分析及构型优化[J].上海交通大学学报,2017,51(10):1153-1159.YANG Zhen,FU Zhuang,GUAN Enguang,et al.The kinematic analysis and structure optimization of MLattice modular robot[J].Journal of Shanghai Jiaotong University,2017,51(10):1153-1159.
[13]叶长龙,佟泽卉,于苏洋,等.全方位移动装配机器人运动学分析[J].机器人,2016,38(5):550-556.YE Changlong,TONG Zehui,YU Suyang,et al.Kinematic analysis of an omnidirectional mobile assembly robot[J].Robot,2016,38(5):550-556.
[14]徐朋,赵东标,程锦翔,等.冗余机器人逆运动学解流形的多目标优化[J].机器人,2016,38(6):704-710.XU Peng,ZHAO Dongbiao,CHENG Jinxiang,et al.Multi-objective optimization for inverse kinematics solution manifolds of redundant robots[J].Robot,2016,38(6):704-710.