Telescopic Handler Structure Design And Working Performance Analysis

In this paper, according to the demand of improving automation and intelligentof the telescopic handler, design the structure of telescopic handler. Through theanalysis the domestic and foreign research of telescopic handler and robotizeengineering machinery and analyzing the key technology of robotize telescopichandler, putting robot technology into the traditional telescopic handler, design thechassis and working device structure of the robotize telescopic handler and analysisstability of the vehicle, analysis kinematics performance of robotize telescopichandler working device based on the content of robotics, solving the work space andsimulation analysis. The main component of this paper is:(1) Structure design of telescopic handler. Firstly, Adopt the method of analogydesign, reference of foreign same type telescopic handler models, design telescopichandler’s performance parameters; Then design the vehicle’s chassis layout andtransmission model; At last, analyzing the importance of the working device anddesign the structure of the telescopic boom, using Pro/E and telescopic boom’sgeometric characteristic to build working device three-dimensional model and planarlinkage sketch.(2) Kinematics performance analysis of the working device. Taking robotizetelescopic handler as research objects, building working device’s multi-linkcoordinate system and determine the parameters for the connecting rod based on D-Hparametric method. On this basis to solve the kinematical equations, respectively tosolve forward-inverse transformation matrix and Jacobian matrix. At last, usingMonte Carlo method to solve workspace, making trajectory planning analysis by thetrajectory planning of joint space.(3) Virtual prototyping simulation of working device. Put the three-dimensionalCAD model which built by Pro/E into RecurDyn to build simulation model, makingkinematics simulation and analyzing simulation result.(4) Dynamics analysis of working device. Taking working device’s luffingmechanism as research objects, basing on Newton-Euler, through solving eachcomponents’ differential motion equation, building working apparels and luffingmechanism Newton-Euler equation set, then building working device’s dynamicsequation set and analyzing relationship between active torque and resistance torque, reaction of kinematics pair and parameter. At last analysis its dynamatic performancebased on RecurDyn.(5) Stability analysis of robotize telescopic handler. Firstly, based on the designsize of robotize telescopic handler and theoretical mechanics knowledge to confirmhorizontal range between barycenter and rear axle and vertical height of barycenter.Then, building stability analysis index of robotize telescopic handler by calculatingstabilization ratio and stability. At last, analyzing robotize telescopic handlerlongitudinal stability by calculating portrait limitation tip-over angle and portraitsliding angle, analyzing robotize telescopic handler lateral stability by calculatinglateral limitation tip-over angle and lateral sliding angle.