Kinematics And Dynamics Analysis Of The Manipulator Of A Logging Harvester

Based on the State Eleventh Five-year Scientific and Technological Support Project-The Research and Explore of the Multifunctional Key Technical Equipment on the Forest Harvesting and Cultivating Operation, This thesis researches one Part of the Project. With the socioeconomic development, more and more wood is needed, many countries already have a large number of the multifunctional harvesting machinery, there was not such harvesting machinery in our country. Abroad multifunctional harvesting machinery is so expensive, and not suit for the domestic wood Production, so the study team develops the first multifunctional logging harvester that is more suitable for the domestic forest harvesting operation. The development of the multifunctional logging harvester has certain significance to improve wood productivity and inducing labor intensity of wood workers. The multifunctional logging harvester is an intelligent equipment which concentrates the functions felling, declaiming, scaling,cross-cutting and so on.Introduces the application and research status of cutting machine, and discusses development actuality of foreign several big companies about joint logging harvester and domestic development situation of cutting tool of each period as well as the basic structure and working principle harvesting machinery.Kinematics the targets of robot joints felling the relation between the positions of rods, using D-H method to establish the manipulator coordinate system and kinematics model, and getting inverse kinematics solutions, on the basis of this, coordinate transform is deduced about Jacobin matrix and the joint space, supplying bases for motion control system design of manipulator.According to the actual size by AutoCAD, using strong parametric feature model function and 3d dynamic assembly technology of Solidworks, establishes 3d modeling of cutting machine mechanical arm and makes the parametric components entity. And through the powerful simulation software ADAMS targets for cutting the motion simulation analysis, combining movement mechanics of cutting targets of simulation function into the dynamic simulation, sports and assembling and interference, with spline function of each joint is a robot kinematics and dynamics driving function simulation., and doing the assembly and interference inspection, using spline function as drive function of kinematics of each robot joint to analyze kinematics and dynamics simulation. Through the simulation can be clearly seen, and the mechanical arm movement be measured logging series of sports exercise targets, such as the characteristic parameters of the vibration acceleration, angular joints, the total kinetic energy, the joint Angle acceleration, the size of the drive torque, which can determine the mechanical arm all joints used in motor parameters, can significantly shorten the development cycle, reducing cost.Using finite element theory combined with finite element analysis software COSMOSWorks to work device (mainly mechanical arm) to analyze, according to the results of structural analysis does structure design optimization.This paper establishes the foundation for logging harvester the next job cutting targets and obtains corresponding experimental parameters. Offering technology reference for the full details of research and development similar forestry equipment.