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首页> 外文期刊>Mathematical Problems in Engineering >Dynamic Modeling and Analysis of a Novel 6-DOF Robotic Crusher Based on Movement Characteristics
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Dynamic Modeling and Analysis of a Novel 6-DOF Robotic Crusher Based on Movement Characteristics

机译：基于运动特性的新型6-DOF机器人破碎机的动态建模与分析

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摘要

This paper proposes a novel 6-DOF robotic crusher that combines the performance characteristics of the cone crusher and parallel robot, such as interparticle breakage and high flexibility. Kinematics and dynamics are derived from the no-load and crushing parts in order to clearly describe the whole crushing process. For the no-load case, the kinematic and dynamic equations are established by using analytical geometry and Lagrange equation. Analytical geometry is mainly used to solve the inverse kinematics and then establish the velocity relationship between generalized coordinates and actuators. Lagrange equation which takes into account the weight of the mantle and actuators is used to solve driving forces of actuators. For the crushing case, crushing pressure is related to the compression ratio and particle size distribution, but the selection and breakage functions should be established first. Because the trajectory model of the mantle is difficult to be established by using analytical method, it can be obtained by an eccentric simulation. The results of input velocities and driving forces of actuators are distinctive due to the eccentric angle and selection of the initial position. Finally, the proposed approach is verified by a numerical example and then the energy consumption is calculated.
机译：本文提出了一种新颖的6-DOF机器人破碎机，它结合了锥形破碎机和平行机器人的性能特性，例如颗粒间破损和高柔韧性。运动学和动力学源自空载和破碎部分，以便清楚地描述整个破碎过程。对于无负载情况，通过使用分析几何和拉格朗日方程来建立运动和动态方程。分析几何主要用于解决逆运动学，然后在广义坐标和执行器之间建立速度关系。考虑到地幔和执行器的重量的拉格朗日等式用于解决执行器的驱动力。对于破碎的情况，破碎压力与压缩比和粒度分布有关，但应首先建立选择和破损功能。因为使用分析方法难以建立披风的轨迹模型，所以它可以通过偏心模拟获得。由于偏心角度和初始位置的选择，致动器的输入速度和驱动力的结果是独特的。最后，通过数值示例验证所提出的方法，然后计算能量消耗。

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  • 来源
    《Mathematical Problems in Engineering》 |2019年第16期|2847029.1-2847029.11|共11页
  • 作者

    Li Guoguang; Shi Boqiang; Liu Ruiyue;

  • 作者单位

    Univ Sci & Technol Beijing Sch Mech Engn Beijing 100083 Peoples R China;

    Univ Sci & Technol Beijing Sch Mech Engn Beijing 100083 Peoples R China;

    Univ Sci & Technol Beijing Sch Mech Engn Beijing 100083 Peoples R China;

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