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A platform for research: civil engineering, architecture and urbanism
Control method of grabbing arm type trash removal robot
The invention discloses a control method of grabbing an arm type trash removal robot. Aiming at the current situation that the trash removal effect of a trash removal machine in water conservancy facilities is poor, a trash removal robot is designed to achieve trash removal of trash racks and riverways, a geometric method is adopted to analyze a three-degree-of-freedom series structure of the trash removal robot, and the nonlinear relation between hydraulic cylinders of all joints and the tail end position is solved; a position controller is designed according to the characteristic of repeatedpaths in the trash removal process, speed feedforward control is added on the basis of position feedback control, and experiments prove that all hydraulic cylinders are high in response speed and position precision; the trash removal robot is mainly composed of a rail moving vehicle, a grabbing arm, a hydraulic servo pump station and an intelligent control system; and the grabbing arm serves as amain executing mechanism of the trash removal action, is fixedly installed on the rail moving vehicle and is dragged by the hydraulic cylinder to rotate, movement of a grab bucket in the horizontal direction and the vertical direction is achieved, and therefore ascending and descending actions of trash removal are completed.
本发明公开了一种抓臂式清污机器人控制方法，针对水利设施中清污机清污效果较差的现状，设计清污机器人可实现拦污栅和河道的污物清理，采用几何法分析清污机器人三自由度串联结构，求解各关节液压缸与末端位的非线性关系；根据其清污过程路径重复的特点，设计位置控制器，在位置反馈控制的基础上，加入速度前馈控制，实验验证各个液压缸响应速度快，位置精度较高；清污机器人主要由轨道移动车、抓臂、液压伺服泵站及智能控制系统构成；其中抓臂作为清污动作的主要执行机构，固定安装在轨道移动车上，通过液压缸牵引做旋转运动，实现抓斗在水平、垂直方向的运动，从而完成清污的上升、下降动作。
Control method of grabbing arm type trash removal robot
The invention discloses a control method of grabbing an arm type trash removal robot. Aiming at the current situation that the trash removal effect of a trash removal machine in water conservancy facilities is poor, a trash removal robot is designed to achieve trash removal of trash racks and riverways, a geometric method is adopted to analyze a three-degree-of-freedom series structure of the trash removal robot, and the nonlinear relation between hydraulic cylinders of all joints and the tail end position is solved; a position controller is designed according to the characteristic of repeatedpaths in the trash removal process, speed feedforward control is added on the basis of position feedback control, and experiments prove that all hydraulic cylinders are high in response speed and position precision; the trash removal robot is mainly composed of a rail moving vehicle, a grabbing arm, a hydraulic servo pump station and an intelligent control system; and the grabbing arm serves as amain executing mechanism of the trash removal action, is fixedly installed on the rail moving vehicle and is dragged by the hydraulic cylinder to rotate, movement of a grab bucket in the horizontal direction and the vertical direction is achieved, and therefore ascending and descending actions of trash removal are completed.
本发明公开了一种抓臂式清污机器人控制方法，针对水利设施中清污机清污效果较差的现状，设计清污机器人可实现拦污栅和河道的污物清理，采用几何法分析清污机器人三自由度串联结构，求解各关节液压缸与末端位的非线性关系；根据其清污过程路径重复的特点，设计位置控制器，在位置反馈控制的基础上，加入速度前馈控制，实验验证各个液压缸响应速度快，位置精度较高；清污机器人主要由轨道移动车、抓臂、液压伺服泵站及智能控制系统构成；其中抓臂作为清污动作的主要执行机构，固定安装在轨道移动车上，通过液压缸牵引做旋转运动，实现抓斗在水平、垂直方向的运动，从而完成清污的上升、下降动作。
Control method of grabbing arm type trash removal robot
一种抓臂式清污机器人控制方法
HUANG ZHENDONG (author) / GAO YUNFENG (author) / YANG SHIJIE (author) / WANG YA (author) / WANG ZHIHUI (author) / YUAN JIABAO (author)
2021-02-05
Patent
Electronic Resource
Chinese
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