混凝土泵车布料机构自动浇筑及过程仿真

机器人化是提高工程机械施工控制自动化的关键问题·通过将泵车布料机构的浇筑区域离散为浇筑点集 ,对两浇筑点内轨迹利用冗余度机器人学的最小关节范数法的轨迹规划 ,并将两相临浇筑段自动连接和自动协调 ,从而实现了混凝土泵车布料机构浇筑过程自动轨迹规划·

Robotization is a key question for improving the operating automation of construction machines. By dispersion to a placing area of booms of concrete pump car, the trajectory planning to each segment was researched. Using the minimal joint module method of redundant robots and the automatic connection and adjustment to every two adjacent placing segments,the automatic trajectory planning is accomplished for booms of concrete pump car placing concrete.

国家“九五”科技攻关资助项目! (96 A2 2 0 1 0 3)