| The article regards manipulator of SGDC700tunnel arch multi-function installing truckas the study subject, performs the experimental study of the installing truck and analyze theresults of the experiment. Two problems of the installing truck are carried out: timeoptimization and stability of the manipulator. Combining with the specific situation of thedomestic tunnel construction, the paper carries on the trajectory planning and simulation ofmanipulator of arch installing truck. The main content of each chapter is as follows:(1) According to analyze the research status at home and abroad of trajectory planning,the trajectory planning was summarized. Then the kinematics of manipulator of tunnel archinstalling truck were introduced, and the mathematical model was also building; Based on themathematical model, the position and posture of manipulator translate switch fromthree-dimensional space to joint space were also solved.(2) According to the actual situation of the tunnel working, tunnel construction, thestructure composition, working principle and motion characteristics of manipulator wereanalyzed. The installing truck experiment was carried out to analyze two problems of thetruck: time optimization and stability of the manipulator. In order to meet the requirements ofshortest time, the path of manipulator was designed to solve the movement relationshipbetween the joint of manipulator.(3) Based on the planning path of manipulator, analysis the method used to design thepath of manipulator. Several polynomial interpolation functions were presented, by which theexpression of joint angle, angular velocity and accelerated velocity of manipulator wereobtained.(4) According to several polynomial interpolation functions, the curve of joint angle,angular velocity and accelerated velocity of manipulator were obtained by simulation ofMatlab. The results shown that the trajectory planning greatly optimize the movement time ofthe truck and ensure the running smoothness of the manipulator. |
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