【作者】 张戟； 王建昌； 吕相杰；

【Author】 Ji Zhang;Jianchang Wang;Xiangjie Lv;Tongji University;

【机构】 同济大学；

【摘要】 为适应国家创建智慧城市的发展要求,面向国家一、二线城市生活垃圾的高效环保收集与清运,本文开展了新型智能自装卸式压缩环卫运载车辆的关键技术研究。本文首先利用软件SolidWorks进行三维建模,设计了一种新型的用于侧装压缩式垃圾车上的智能机械臂系统;其次在控制系统的研究中,运用虚拟仿真分析软件ADAMS、AMESim和Simulink进行了系统建模和联合仿真,通过对机械臂系统运动学和动力学控制仿真分析,通过对纵移自由度的点动控制与对其他自由度的速度控制的联合仿真,用输出的活塞杆位移及其速度的仿真曲线与期望值相比较,用运动周期仿真值与运动周期规划值相比较,仿真结果验证了智能环卫车机械臂结构设计的可行性和控制系统设计的准确性。更多还原

【Abstract】 In order to meet the development requirements of the country to create a smart city, and for the efficient and environmentally friendly collection and removal of domestic waste in the first and second tier cities of the country, this paper has carried out the key technology research of a new type of intelligent self-loading and unloading compressed sanitation vehicle. This paper first uses SolidWorks for three-dimensional modeling, and designs a new type of intelligent robotic arm system for side-mounted compression garbage trucks. Secondly, in the research of the control system, virtual simulation analysis software ADAMS, AMESim and Simulink are used to carry out System modeling and co-simulation, through the simulation analysis of the kinematics and dynamics control of the manipulator system, through the joint simulation of the jog control of the longitudinal movement degree of freedom and the speed control of other degrees of freedom, using the output displacement and speed The simulation curve is compared with the expected value, and the motion cycle simulation value is compared with the motion cycle planning value. The simulation results verify the feasibility of the intelligent sanitation vehicle manipulator structure design and the accuracy of the control system design.更多还原