CAJ | 학술논문

　　为了提高某公司生产的CHP30型湿喷机机械臂的工作性能，运用D-H坐标法对该机械臂进行运动学分析；基于刚柔耦合系统动力学理论，建立了机械臂的刚柔耦合模型，利用ADAMS分别对机械臂的刚性模型和刚柔耦合模型进行了动力学分析，得到了不同载荷情况下机械臂末端在各坐标轴方向上的位置曲线．仿真结果表明：机械臂和混凝土的重力动载荷以及喷射作用力是其产生振动的主要原因，最大振幅约为0.04 m ，与实际情况相吻合；端部喷射作用力对机械臂末端振动的影响程度因喷射方位的改变而变化，喷射侧面时，振幅最大，喷射顶部时，振幅最小；橡胶输送管悬挂在2个锁扣上时对机械臂的振动影响较小．仿真结果对湿喷机机械臂的设计有一定的指导作用，同时为机械臂末端的轨迹规划和机械臂的疲劳分析提供了理论依据．
　　위료제고모공사생산적CHP30형습분궤궤계비적공작성능，운용D-H좌표법대해궤계비진행운동학분석；기우강유우합계통동역학이론，건립료궤계비적강유우합모형，이용ADAMS분별대궤계비적강성모형화강유우합모형진행료동역학분석，득도료불동재하정황하궤계비말단재각좌표축방향상적위치곡선．방진결과표명：궤계비화혼응토적중력동재하이급분사작용력시기산생진동적주요원인，최대진폭약위0.04 m ，여실제정황상문합；단부분사작용력대궤계비말단진동적영향정도인분사방위적개변이변화，분사측면시，진폭최대，분사정부시，진폭최소；상효수송관현괘재2개쇄구상시대궤계비적진동영향교소．방진결과대습분궤궤계비적설계유일정적지도작용，동시위궤계비말단적궤적규화화궤계비적피로분석제공료이론의거．
To improve the working performance of the manipulator of the wet spraying machine CHP30 ,the manipulator kinematic dynamic characteristics were obtained by using the D-H coor-dinate method .According to the kinetic theory of rigid-flexible coupling system ,the rigid-flexible coupling model of the manipulator was established ;then through the rigid model of the manipula-tor and rigid-flexible coupling model dynamics analysis in ADAMS , we obtained the location curve of the end portion of manipulator in each direction of the axis under different load cases . The simulation conclusion shows that the manipulator and concrete gravity dynamic load ,and the injection force are the main reason of vibration ,the maximum amplitude of vibration is 0.04 m and consistent with the actual situation .The degree of influence of the manipulator coming from the end portion of the ejection force changes with the injection orientation ,when the ejection is side surface ,the amplitude is largest ,but the top side ,the amplitude is minimum ;and when the rubber feed pipe hangs in the two locks ,it has small impact on the vibration .The simulation re-sults are helpful to the design of the manipulator ,also provide the theory basis for the trajectory planning and the fatigue analysis of the manipulator .