绿化修剪车避障工作装置运动学分析

以绿化修剪车的工作装置为研究对象,通过矩阵分析法建立了工作臂矢量运动方程,完成了机械臂的运动学分析。同时,运用ADAMS对绿化修剪车的工作装置进行了运动学仿真,得到了绿化修剪车触杆的运动包络图和割草机触杆末端的位移、速度及加速度,验证了机械臂数学模型的正确性。最后,根据绿化修剪车工作装置的实际运动情况和仿真结果,推算出绿化修剪车的最大作业速度和避障时间,为后续液压系统设计和工作臂的控制设计提供了理论依据。

Kinematics Analysis of Obstacle-avoiding Working Device of Trimmer

Taking the working device of the trimmer as the research object,the vector motion equation of the working arm was established by the matrix analysis method,and the kinematics analysis of the mechanical arm was completed.At the same time,ADAMS was used to perform kinematics simulation on the working device of the trimmer.The motion envelope of the vehicle’s contact rod and the displacement,velocity and acceleration of the mower’s end of the contact rod were obtained to prove the correctness of the mathematical model of the mechanical arm.Finally,according to the actual motion and simulation results of the working device of the trimmer,the maximum working speed and obstacle avoidance time of the vehicle were deduced,which provides a theoretical basis for the design of the hydraulic system and the working arm.