拱架安装机械手运动学、动力学研究
摘要
我国山岭隧道施工以钻爆法为主,当进行软弱围岩施工时,须采用钢拱架作为初期支护,以保证施工安全。而国内普遍采用的人工安装方式己难以适应隧道快速施工的要求,需要一种拱架安装专用设备。拱架安装机集钢拱架运输与安装等功能于一身,其核心工作装置是拱架安装机械手。拱架安装机械手的结构性能直接关系到整机的作业性能和制造、使用成本,对其进行深入研究具有重要意义。本文在分析我国隧道施工环境和钢拱架安装工艺的基础上,提出拱架安装机的设计方案,并对拱架安装机械手进行运动学和动力学进行研究。论文主要内容如下：
首先对国内外现有的拱架安装设备性能和特点进行对比分析,结合我国隧道施工要求,提出拱架安装机的设计方案,介绍其主要结构和工作原理,并运用SolidWorks软件建立拱架安装机械手的三维模型,为后续的仿真分析作准备。
其次结合拱架安装机械手的结构特点,运用D-H法建立拱架安装机械手的运动学方程,并验证运动学方程的正确性；采用蒙特卡洛法和Matlab软件求出拱架安装机械手的工作空间。
采用牛顿-欧拉方程法对拱架安装机械手进行动力学分析,介绍其递推过程；运用ADAMS软件建立拱架安装机械手的虚拟样机模型,对其进行运动学和动力学仿真分析,得到小臂平衡机构的调平偏差以及各油缸和铰点的受力情况,为油缸的选型设计和有限元分析提供必要的参数。
最后运用COSMOSWorks软件对拱架安装机械手的伸缩臂进行有限元静力分析。根据虚拟样机仿真结果提供的铰点力,校核伸缩臂在危险工况下的强度和刚度,为以后的结构优化、改进设计提供条件。
The main methods for the construction of mountain tunnel is drilling and blasting method in China. In order to ensure construction safety, steel roof arches must be installed in the construction of weak surrounding rock tunnels. Installing steel arches by manpower is the most popular method at present in China. This method is difficult to satisfy the requirements of rapid construction of tunnels. It is necessary to design a special machine which is called the steel support machine used for conveying and installing steel arches in tunnels. The steel support manipulator is the key working device. Its structure has a great influence on the overall performance; the manufacture cost and use cost. So it is necessary to make a deep study on the steel support manipulator. Based on the analysis of the tunnel construction condition and the installation requirements, this paper proposes the design scheme of the steel support machine. The kinematics and dynamics of the steel support manipulator are investigated in this paper. The main work of this paper is as follows:
Firstly the characteristics of the existing machines are compared and analyzed. According to the installation requirements of steel arches in our country, the design scheme of the steel support machine is proposed. Its structural composition and working principle are introduced. The model of the steel support manipulator is created in SolidWorks, which is the basis of further analysis.
Secondly according to the structure features of the manipulator, its kinematics equation is built by D-H coordination system. Monte-Carlo method is applied to simulating the workspace of the manipulator with Matlab program language.
Thirdly this paper analyzes the dynamics of the steel support manipulator by the iterative Newton-Euler scheme. The steel support manipulator's virtual prototyping model is established with ADAMS software, and to carry on the kinematics and dynamics simulation analysis. The dynamically leveling angle curve of the leveling mechanism is obtained through the simulation analysis. Curves of cylinders'driving force and the joint force are also derived. The results of simulation analysis provide theoretical basis for the finite element analysis and the designs of cylinders of the steel support manipulator.
Finally the finite element model of the manipulator's telescopic boom is established with COSMOSWorks software, and to carry on the static analysis. The strength and stiffness of the telescopic boom in dangerous condition are checked according to the result of the static analysis. The result lay the foundation for follow-up study such as structural optimization and design improvement of the manipulator.
首先对国内外现有的拱架安装设备性能和特点进行对比分析,结合我国隧道施工要求,提出拱架安装机的设计方案,介绍其主要结构和工作原理,并运用SolidWorks软件建立拱架安装机械手的三维模型,为后续的仿真分析作准备。
其次结合拱架安装机械手的结构特点,运用D-H法建立拱架安装机械手的运动学方程,并验证运动学方程的正确性；采用蒙特卡洛法和Matlab软件求出拱架安装机械手的工作空间。
采用牛顿-欧拉方程法对拱架安装机械手进行动力学分析,介绍其递推过程；运用ADAMS软件建立拱架安装机械手的虚拟样机模型,对其进行运动学和动力学仿真分析,得到小臂平衡机构的调平偏差以及各油缸和铰点的受力情况,为油缸的选型设计和有限元分析提供必要的参数。
最后运用COSMOSWorks软件对拱架安装机械手的伸缩臂进行有限元静力分析。根据虚拟样机仿真结果提供的铰点力,校核伸缩臂在危险工况下的强度和刚度,为以后的结构优化、改进设计提供条件。
The main methods for the construction of mountain tunnel is drilling and blasting method in China. In order to ensure construction safety, steel roof arches must be installed in the construction of weak surrounding rock tunnels. Installing steel arches by manpower is the most popular method at present in China. This method is difficult to satisfy the requirements of rapid construction of tunnels. It is necessary to design a special machine which is called the steel support machine used for conveying and installing steel arches in tunnels. The steel support manipulator is the key working device. Its structure has a great influence on the overall performance; the manufacture cost and use cost. So it is necessary to make a deep study on the steel support manipulator. Based on the analysis of the tunnel construction condition and the installation requirements, this paper proposes the design scheme of the steel support machine. The kinematics and dynamics of the steel support manipulator are investigated in this paper. The main work of this paper is as follows:
Firstly the characteristics of the existing machines are compared and analyzed. According to the installation requirements of steel arches in our country, the design scheme of the steel support machine is proposed. Its structural composition and working principle are introduced. The model of the steel support manipulator is created in SolidWorks, which is the basis of further analysis.
Secondly according to the structure features of the manipulator, its kinematics equation is built by D-H coordination system. Monte-Carlo method is applied to simulating the workspace of the manipulator with Matlab program language.
Thirdly this paper analyzes the dynamics of the steel support manipulator by the iterative Newton-Euler scheme. The steel support manipulator's virtual prototyping model is established with ADAMS software, and to carry on the kinematics and dynamics simulation analysis. The dynamically leveling angle curve of the leveling mechanism is obtained through the simulation analysis. Curves of cylinders'driving force and the joint force are also derived. The results of simulation analysis provide theoretical basis for the finite element analysis and the designs of cylinders of the steel support manipulator.
Finally the finite element model of the manipulator's telescopic boom is established with COSMOSWorks software, and to carry on the static analysis. The strength and stiffness of the telescopic boom in dangerous condition are checked according to the result of the static analysis. The result lay the foundation for follow-up study such as structural optimization and design improvement of the manipulator.
引文
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[30]樊炳辉.RPJ-D型喷砼机器人技术研究[D].山东科技大学博士学位论文,2007
[31]Xiumin Diao, Ou Ma. Workspace analysis of a 6-dof cable robot for hardware-in-the-loop dynamic simulation [C]//Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems,2006:4103-4108
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[34]周友行.凿岩机器人空虚规划的研究与实现[D].中南大学博士学位论文,2003
[35]蔡蒂,谢存禧,等.基于蒙特卡洛法的喷涂机器人工作空间分析及仿真[J].机械设计与制造,2009(3)：161-162
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[43]李增刚.ADAMS入门详解与实例[M].北京：国防工业出版社
[44]林建冬,原思聪,王发展.虚拟样机技术在ADAMS中的实践[J].机械研究与应用,2006,19(6)：66-68
[45]郝云堂,金烨,季辉.虚拟样机技术及其在ADAMS中的实践[J].机械设计与制造,2003(3)：17-18
[46]S.FRIMPONG, Y.LI. Virtual prototype simulation of hydraulic shovel kinmatics for spatial characterization in surface mining operations [J]. International Journal of Surface Mining, Reclamation and Environment,2005,19(4):238-250
[47]Nassib Aouad, Samuel Frimpong. Virtual prototype simulation of truck vibrations in high-impact shovel loading operations [J]. J Powder Metall Min,2013(1)
[48]王庆五,左昉,胡仁喜,等.ANSYS10.0机械设计高级应用实例(第2版)[M].北京：机械出版社,2007
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[2]王梦恕.中国铁路、隧道与地下空间发展概况[J].隧道建设,2010,30(4)：351-364
[3]郭陕云.隧道掘进钻爆法施工技术的进步和发展[J].铁道工程学报,2007(9)：67-74
[4]赖涤泉,汪西应,王金祥.隧道安全快速施工机械化关键技术与装备研究[J].建设机械技术与管理,2009(11)：107-113
[5]蒲青松,罗克龙.隧道拱架安装车的技术研究[J].建筑机械化,2012(7)：51-53
[6]李艳.钢拱架安装台车的设计与研究[D].河南科技大学硕士学位论文,2011
[7]康宝生.一种新型隧道施工用拱架安装机[J].隧道建设,2011,31(5)：624-628.
[9]李俊.SZTZ隧道拱架提升装置的设计与应用[J].国防交通工程与技术,2012,增刊：40-42
[10]湖南江麓实业发展有限公司.隧道多功能作业台车：中国201210231968.6[P].2012-10-24
[11]张吉佐,侯秉承,等.隧道工程施工技术解说图册[M].台北：交通部台湾区国道新建工程局,2006
[12]TZ204-2008铁路隧道工程施工技术指南[S].北京：中国铁道出版社,2008
[13]傅鹤林,赵朝阳,等.隧道安全施工技术手册[M].北京：人民交通出版社,2010
[14]TZ214-2005客运专线铁路隧道工程施工技术指南[S].北京：中国铁道出版社,2009
[15]胡元.高空作业车工作平台调平机构[J].工程机械,2006,37(12)：34-36
[16]罗克龙,管会生,蒲青松.拱架安装机械手正向运动学研究及工作空间仿真[J].工程机械,2012,43(4)：29-33
[17]张小江.机器人仿真研究及运动学动力学分析[D].吉林大学硕士学位论文,2006
[18]闫华晓.模块化工业机器人设计的若干问题研究[D].浙江大学硕士学位论文,2008
[19]王刚.PJR-X型喷浆机器人的仿真研究[D].山东科技大学硕士学位论文,2009
[20]J. Denavit and R.S. Hartenberg. A kinematic notation for lower-pair mechanisms based on matrices[J]. Trans ASME J.Appl. Mech,1955(23):215-221
[21]熊有伦.机器人技术基础[M].武汉：华中理工大学出版社,1996
[22]刘泽鑫.电脑凿岩台车钻臂动力学分析[D].西南交通大学硕士学位论文,2012
[23]B.Fink, M.Hiller, et al. Cartesian controlled heavy machines supported by adavanced human-machine-interfaces [C]//1998 Proceedings of the 15th ISARC.1998:496-501
[24]John J. Craig. Introduction to robotics:mechanics and control [M]. New Jersey: Prentice Hall,2004
[25]蔡自兴.机器人学[M].北京：清华大学出版社,2009
[26]Samir Nabulsi, Angel Rodriguez, Olga Rio. Robotic machine for high-quality shotcreting process [C]//ISR/ROBOTIK 2010,2010:1137-1143
[27]马香峰.机器人机构学[M].北京：机械工业出版社,1991
[28]Paul R.P, Shimano B. Kinematic control equations for simple manipulator [J].IEEE Trans SMC,1981, 11(6):449-455
[29]吴双斌.潜孔钻机钻臂运动学、动力学研究及优化设计[D].中南大学硕士学位论文,2011
[30]樊炳辉.RPJ-D型喷砼机器人技术研究[D].山东科技大学博士学位论文,2007
[31]Xiumin Diao, Ou Ma. Workspace analysis of a 6-dof cable robot for hardware-in-the-loop dynamic simulation [C]//Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems,2006:4103-4108
[32]David G. Alciatore, Chung-Ching D. Ng. Determining manipulator workspace boundaries using the monte carlo method and least squares segmentation[C]//Proceedings of the ASME Robotics, Kinematics, Dynamics and Controls,1994:141-146
[33]Yi Cao, Haihe Zang, et al. An engineering-oriented method for the three dimensional workspace generation of robot manipulator[J]. Journal of Information and Computational Science,2011,8(1):51-61
[34]周友行.凿岩机器人空虚规划的研究与实现[D].中南大学博士学位论文,2003
[35]蔡蒂,谢存禧,等.基于蒙特卡洛法的喷涂机器人工作空间分析及仿真[J].机械设计与制造,2009(3)：161-162
[36]熊有伦,丁汉,刘思沧.机器人学[M].北京：机械工业出版社,1993
[37]M.W. Walker, D.E. Orin. Efficient dynamic computer simulation of robotic mechanisms [J]. Journal of Dynamic Systems, Measurement, and Control.1982(104):205-211
[38]Herman HΦifΦdt. Dynamic modeling and simulation of robot manipulators [D], Master Thesis of Norwegian University of Science and Technology,2011
[39]Mark D. Ardema. Newton-Euler Dynamic[M]. New York:Springer,2005
[40]John M. Hollerbach. A recursive lagrangian formulation of manipulator dynamics and a conparative study of dynamics formulation complexity [J]. IEEE Trans on Systems, Man and Cybernetics,1980,10(10):730-736
[41]朱世强,王宣银.机器人技术及其应用[M].杭州：浙江大学出版社,
[42]宋增来,陈振华.N自由度机器人仿真的实现[J].计算机工程与设计,2006,27(24)： 4813-4816
[43]李增刚.ADAMS入门详解与实例[M].北京：国防工业出版社
[44]林建冬,原思聪,王发展.虚拟样机技术在ADAMS中的实践[J].机械研究与应用,2006,19(6)：66-68
[45]郝云堂,金烨,季辉.虚拟样机技术及其在ADAMS中的实践[J].机械设计与制造,2003(3)：17-18
[46]S.FRIMPONG, Y.LI. Virtual prototype simulation of hydraulic shovel kinmatics for spatial characterization in surface mining operations [J]. International Journal of Surface Mining, Reclamation and Environment,2005,19(4):238-250
[47]Nassib Aouad, Samuel Frimpong. Virtual prototype simulation of truck vibrations in high-impact shovel loading operations [J]. J Powder Metall Min,2013(1)
[48]王庆五,左昉,胡仁喜,等.ANSYS10.0机械设计高级应用实例(第2版)[M].北京：机械出版社,2007
[49]SolidWorks公司.COSMOS基础教程：COSMOS Works Designer[M].北京：机械工业出版社2006
[50]Tomasz Geisler, Wojciech Sochacki. Modelling and research into the vibrations of truck crane [J]. Scientific Research of the Institute of Mathematics and Computer Science, 2011,1(10):49-60
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