CAJ | 학술논문

应用多自由度可控机构理论设计的新型可控机构式装载机，其结构中含有多个闭环和回路，为了获得此类可控装载机构运动学输入与输出之间的关系及规律，针对其多闭环、多回路的结构特点，采用矢量投影法建立机构运动学模型，求出位置、速度、加速度解，再对其进行运动学仿真分析，通过算例和运动学仿真分析的数据对比，验证了运动学模型的正确性，同时仿真结果还表明：该机构在举升过程中，两主动件的角位移变化范围在20°内，运动范围较小，两主动杆角速度变化范围分别为3°/s和9°/s，角加速度变化范围分别为0.8°/s2和1.7°/s2，变化范围小且曲线较为平缓，说明该机构可以平稳地完成举升工作。通过对新型可控机构式装载机建立运动学模型和仿真分析，可以得到该装载机的输出运动规律，并为后续的控制系统设计工作提供基础。
응용다자유도가공궤구이론설계적신형가공궤구식장재궤，기결구중함유다개폐배화회로，위료획득차류가공장재궤구운동학수입여수출지간적관계급규률，침대기다폐배、다회로적결구특점，채용시량투영법건립궤구운동학모형，구출위치、속도、가속도해，재대기진행운동학방진분석，통과산례화운동학방진분석적수거대비，험증료운동학모형적정학성，동시방진결과환표명：해궤구재거승과정중，량주동건적각위이변화범위재20°내，운동범위교소，량주동간각속도변화범위분별위3°/s화9°/s，각가속도변화범위분별위0.8°/s2화1.7°/s2，변화범위소차곡선교위평완，설명해궤구가이평은지완성거승공작。통과대신형가공궤구식장재궤건립운동학모형화방진분석，가이득도해장재궤적수출운동규률，병위후속적공제계통설계공작제공기출。
A novel controllable institutional loading mechanism was designed by applying the multi-DOF( degree of freedom) controllable mechanism design theory, of which structure contains plurality of closed-loops and loops.In order to obtain the kinematic relations and law between the input and output of such a controllable loading mechanism, for its multi-closed loop, multi-loop structure char-acteristics, kinematics model agency was established by applying motion vector projection method, the solution of position, velocity and acceleration were found, then simulation analysis was per-formed.By contrasting the numerical examples and the data of simulation analysis, correctness of the kinematic model was verified.Simultaneously, the simulation analysis results indicated that:in the lifting process of the mechanism, angular displacement range of two active levers was 20°, and the range of variation is small.Angular velocity ranges of two active levers were 3°/s and 9°/s, angular acceleration ranges were 0.8°/s2 and 1.7°/s2 , which were small range and the curve of sim-ulation analysis were gentle, it meant that the mechanism can complete the lifting work smoothly. Kinematics modeling and analysis for the novel planar controllable loading mechanism, which can obtain the kinematic relations and law between the input and output, and provide the basis for subse-quent control system design work.