MODELLING THE KINEMATICS OF A HINGED-ROD HYDRAULIC MANIPULATOR
The article considers the possibility of determining the kinematic parameters of hydraulic ma-nipulators that have a hinged-rod boom as a supporting structure. The design of the hinged-rod boom has its own features that must be taken into account when performing calculations. Especially there was a...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Editorial and publishing department of FSBEE HE Penza SAU
2020-03-01
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| Series: | Volga Region Farmland |
| Subjects: | |
| Online Access: | https://niva-volga.ru/file/vipuski/2020_1_54/en/2020_1_5_en_99-104.pdf |
| Summary: | The article considers the possibility of determining the kinematic parameters of hydraulic ma-nipulators that have a hinged-rod boom as a supporting structure. The design of the hinged-rod boom has its own features that must be taken into account when performing calculations. Especially there was a difficulty in determining the kinematic parameters during the operation of hydraulic manipula-tors with such a boom design. The kinematic characteristics were determined by a program devel-oped in the C++ programming language. It was created for practical use in order to simplify the calcu-lation and identification of optimal values of the boom hydraulic manipulators operation. The originali-ty of the program described in the article is confirmed by the certificate of state registration of the computer program. Using the program allows to select the optimal values of kinematic characteristics and build the necessary graphs based on the data obtained, thereby simplifying the research work of determining the optimal values of the hydraulic manipulator with a hinged-rod boom. Calculations, with the use of a computer program in the C++ programming language, were made for engineering development, the originality of which is confirmed by a patent for a utility model. Using a computer program, the optimal kinematic parameters of the hinge-rod boom of the hydraulic manipulator were determined. According to the computer program, with the given values of the lengths of the rods constituting a hinge-rod connecting arm of the crane, the coordinates and angles of rotation of the supporting structure of the hinged-rod boom of the crane and also its velocity and acceleration of movement are determined. Based on the obtained data, it is possible to plot graphs, such as chang-es in the position of the hinges in the spatial coordinate system that make up the hinge-rod connec-tion of the hydraulic manipulator boom, angles' rotation and velocity, etc. As the results confirm, the program works to determine the kinematic characteristics of a particular engineering development. It means that its use is possible for calculating the kinematic parameters of the other similar design de-velopments, both the hinged-rod boom and boom hydraulic manipulators. |
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| ISSN: | 2686-7672 2713-198X |