The design of motion mechanism is required to meet the expected motion trajectory. At the same time, in order to ensure the smoothness of motion, it is also necessary to control the speed and acceleration, etc. However, the derivative of curve cannot be solved in CAD software. Based on the definition of derivative and the motion simulation function in UG, this paper gives the derivation method of continuous curve, and verifies the correctness of the method, which can meet the requirement of practical engineering application.
The IRB2400 robot is studied and analyzed by using the homogeneous coordinate transformation theory. The coordinate system is established and the parameters are determined by using the DH parameter method. The robot modeling and simulation is completed by using the Matlab Robotics Toolbox. The joint space trajectories planned by cubic and quintic polunomial interpolation algorithms are compared, and the quintic polynomial interpolation algorithm is determined to be the ideal joint space trajectory planning algorithm. Given the initial and final pose of the robot, the end trajectory is analyzed, and the motion curves, angular velocity curves and angular acceleration curves of each joint are obtained. The forward kinematics and inverse kinematics are carried out to verify the rationality of the structure design of the robot.
To explore rock burst monitoring technology in the deep large mining height fully mechanized mining face,combining stope layout and production situation,we studied mining face microseism activity rule based on existing microseism monitoring technology and equipment.We analyzed a large number of microseism events of the working face from production to Square stage to find universal rules of the factors,such as space,time,coal seam and the working face production activity on microseism activity.This work can provide a basis for rock burst monitoring technology in the same type working face.
The quarter-car active suspension nonlinear model is build,based on the analyses of the hydraulic servo control system involving the nonlinear characteristics used in vehicle active suspension.According to the high nonlinear characteristics of asymmetrical cylinder controlled by symmetrical valve,the fuzzy PID controller is designed and the controlleru0027s parameters can be regulated with the running states of the control system.For the same road input,the controlled effect is compared between active and passive suspension.The simulation results show that the body vertical acceleration and wheel dynamic load are improved in active suspension compared with passive suspension.The ride performance and handling stability can be improved by the control system.
In order to solve the problems such as large amount of fuel consumption,low utilization of existing wheel loader under cycle operation,and unable to recycle potential energy of the boom,we proposed an energy saving hydraulic system to recycle the potential energy of the boom.The working principle of the system was introduced,the different running states under different operating modes were analyzed,the mathematic model of the recycled energy when the boom going down was built,and then the process was simulated with Simulink.This system can improve the working efficiency of the wheel loader,and reduce the fuel consumption and emission.
