Structural Design And Dynamic And Static Characteristics Analysis Of The Mechanical Arm Of A Side Mounted Garbage Removal Vehicle

As one of the sources of environmental pollution,household waste has seriously endangered people’s health,such as the high noise of garbage collection machinery systems,low cleaning efficiency,and secondary pollution of garbage.Therefore,it is crucial to adopt efficient collection and treatment methods.Garbage collection and disposal is a key link in the garbage collection and disposal process.The garbage collection robotic arm,as the core device,mainly completes the work of holding,lifting,flipping,and placing garbage cans,playing an important role in the garbage collection and disposal process.This article designs a side mounted garbage collection robotic arm,establishes a three-dimensional model,and uses theoretical analysis,numerical simulation,and other methods to analyze the dynamic and static characteristics of the robotic arm.The following contents are specifically studied:(1)The structural design and working principle of a garbage collection robotic arm.Based on the operating conditions of the garbage collector,the functional requirements of the garbage collector system are determined.According to the structural characteristics of the garbage collector and the garbage can,the structural parameter indexes of the garbage collector manipulator are proposed.Combined with the practical application,the final structure of the manipulator is determined,and the geometric modeling is established and its working principle is analyzed.In addition,a spiral compression device is designed to compress the garbage inside the carriage.(2)Finite element statics and modal analysis of garbage collection manipulator under typical working conditions.Simulate the simplified three-dimensional model of the robotic arm in Ansys Workbench,analyze the stress and deformation cloud maps under three working conditions: extending the bucket,lifting,and unloading,and determine the maximum stress and deformation area of the robotic arm;By analyzing the characteristics of the first six modal formations,the offset of the natural frequency value of the robotic arm relative to the excitation frequency value is obtained.(3)The kinematics model is established to analyze the kinematics of the garbage collection manipulator.According to the robot related theory,the kinematic sketch of the link coordinate system of the garbage collection manipulator is constructed,the kinematics equations are derived,and the forward and inverse solutions and Jacobian matrix are calculated;Write a program in Matlab to verify the accuracy of the model,solve the workspace and Jacobian matrix of the robotic arm structure;To ensure that there is no impact between the components of the garbage collection robotic arm during its movement and to smoothly complete the garbage collection work,a fifth degree polynomial is used for trajectory planning.(4)Use Adams software to simulate the dynamic characteristics of the garbage collection robotic arm.By establishing a virtual prototype model of the robotic arm for motion simulation,the displacement,velocity,and acceleration changes of the center of mass of the garbage can during movement are studied.The clamping force of the holding arm and the force characteristics of the hydraulic cylinder are analyzed,and the impact and vibration conditions of the robotic arm system are obtained.