Systematic Improvement And Mechanism Optimization Of The Automated Side Arm

The rapid increase of urban population results in urban garbage shooting up.In order to improve the efficiency of life garbage collecting,automated side loader(ASL)has developed into a necessity for the sanitation equipment.The automated side arm(ASA)is the actuating unit of ASL to automatically crawl and flip the trash barrel,whose structure and kinematic performance directly affect the operation performance and efficiency of the ASL.The research object of this thesis is ASA,its system solution was improved and mechanism was optimized.The main researching works are as follows.System solution for ASA was improved.The problem of structure cumbersome,poor system stability and complex workflow were analyzed and the cruxes of-the problem were found out.The ASA was improved by cutting swing cylinder and its associated components.The number of the drive was reduced by one,which is beneficial to reduce the weight of the ASA structure and improve the stability.The workflow was simplified by the reduction in the number of drive components,and the efficiency of the ASA was improved.Kinematics of the plane handling mechanism was analyzed.Firstly,through the analysis of the initial position parameter relationship of the plane handling mechanism,the function relation between the distance of the midpoint of the bucket eaves from the center of the hinge and the mechanism parameter was deduced.The mathematical expression of the angle between the midpoint of the bucket eaves and the hinges center of the connecting rod was derived simultaneously.Through the key position analysis of the midpoint of the bucket eaves,the key position and mechanism parameters number relationship was derived.Then,based on the velocity analysis,the relation between the output angular velocity and mechanism arguments was obtained,Furthermore,combining with the position analysis,which could deduce the function relationship between the point trajectory of the arbitrary angle and arguments.At last,the trajectory of the midpoint.of the bucket eaves of the plane handling mechanism was calculated.Multi-object optimization of the plane handling mechanism was finished.According to the constraint conditions of mechanism,the minimum deviation of the critical position and the minimum standard deviation of the angular velocity were taken as the optimization targets and mechanism parameters were regarded as design variables.A mathematical optimization model about critical position deviation and motion smoothness was built for the Plane handling mechanism,and a method of using the standard deviation of the angular velocity of the output component was proposed to describe the smoothness of the turning motion.By solving the mathematical optimization model with optimization method based on interior point algorithm,the results show that the performance of optimized Plane handling mechanism was greatly improved.Optimization results were verified.The simulation model of the kinematics and dynamics of the Plane handling mechanism was established.The kinematics and dynamics simulation were carried out,and then the trend of the driving force of the Plane handling mechanism was verified by the analytical method.Using the ADAMS simulation carried out comparative test and the experimental results were compared with the theoretical solutions.The consistency is good,and the rationality of the optimization model was verified.