Author:
Yang Qilin,Li Huakang,Liao Hongbo,Yin Fenglong,Cao Jun,Liu Kun
Abstract
Abstract
Aiming at the problem of sandy soil collection, a multi-DOF mechanical structure is improved. Manipulator is developed by optimizing the integral middle boom to telescopic arm, and an automatic quick coupler is designed which is between the manipulator and the operating unit. The multi-DOF structure is analyzed based on dynamic theory, and the results of the limited operation range and the cylinder driving force are obtained, which could provide a theoretical basis for the structural design and the cylinder selection. An autonomous operation algorithm for sandy soil collection is proposed. The angle discretization method is adopted to improve collection efficiency. The model prototype is established to carry out the experimental verification. Through the test, the device in remote operation mode shows great performance in working conditions, and the autonomous operation algorithm can reduce the working intensity and risk of the operator and improve the efficiency of sandy soil operation.
Subject
Computer Science Applications,History,Education
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