The Attitude Control And Path Planning Research Of Concrete Pump Truck Boom

Mechanics & Electronics and technology of robotics have become the development direction of high performance engineering machinery, automatic operation, as an effective tool of modern construction, has got the attention. Concrete pump truck that sold on the market at present is not perfect. The operators see the position of the end about the concrete pump truck boom by his naked eyes during operation, and then move each boom through the control handle one by one to reach a predetermined position. It depends on his experience. It needs to consider the obstacle at the same time. When concrete pump truck works, it costs too much time to open and recover the booms. Its work efficiency completely depends on the degree of skilled operators for this way. The variability is more great. It also increases the labor intensity of operators. Therefore it is necessary to research the automatic operation system of the concrete pump truck boom [1].Based on the system of concrete pump truck boom.The main contents are as follows:(1) Through researching and analysising the system of concrete pump truck boom, this paper gets the joint angle and positive solution of position at the end of boom by the theory of D-H. According to the actual working characteristics and requirements of concrete pump truck, it establishes the uniqueness of the inverse solution and reaches it. Using the software of matlab, it fits out the relation among the end position of concrete pump truck boom and rotation Angle of the base and the elongation length of hydraulic cylinder.(2) Using the method of graphical,it gets arriving work space of the concrete pump truck boom. Using the method of hierarchical classification and the method of rotation angle, its arriving working space is divided. This paper obtains the corresponding data points; According to all of the data points, it establishes the database of position of end of boom of concrete pump truck and corresponding driving cylinder displacement and completes data points’ s store. This study determines the method of database query and way of call in the last(3) It plans the path of concrete pump truck boom. It haves completed the initial work in place path of pump truck boom, and completed the path planing of intelligent casting of system of the concrete pump truck boom, and completed the controlling strategy research of automatic open and recover of concrete pump truck boom.(4) According to the actual working situation and requirement of concrete pump truck, it haves designed the composition of intelligence gating system of the boom of concrete pump truck and the corresponding intelligent controller design of scheme. It expounds the control process and method of intelligent casting.It Summarizs full text work in the last. This paper determines the content and focus of research work in the future, and puts forward to prospect and imagine for the further research and practice aiming at the shortcomings of the present work.