Study on Track Control to the Multiple Degrees of Freedom Mechanical Arm of the Sampling Machine for Coal at Railway Carriage

Zhi Xue Tong; Li Chen Shi; Jing Yang; Li Gang Zhang

doi:10.4028/www.scientific.net/AMR.542-543.963

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 542-543Study on Track Control to the Multiple Degrees of...

Study on Track Control to the Multiple Degrees of Freedom Mechanical Arm of the Sampling Machine for Coal at Railway Carriage

Abstract:

The multiple degrees of freedom mechanical arm of sampling machine for coal at railway carriage is driven by hydraulic press. It is a kind of joint. During working, the sampling head not only keeps in its poses, but also moves along a straight path. The mechanical arm’s motion is resolved into three independent motion systems, foundation rotation, straight motion of 3 degrees of freedom kinematics chain, and servo control system of the sampling head. A group of motion equations is set up. According to the reversion theory and optimization method, the motion control model is built up in order to reappear the motion track. The method is efficient to solve the motion control problem. And the result of driving curve is more suitable for the hydraulic system. This method is useful for motion intelligent control of different kinds of joint manipulator.

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Periodical:

Advanced Materials Research (Volumes 542-543)

Pages:

963-967

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.542-543.963

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Online since:

June 2012

Authors:

Zhi Xue Tong, Li Chen Shi, Jing Yang, Li Gang Zhang

Keywords:

Driving Curve, Intelligent Control, Mechanical Arm, Motion Reversion, Optimization, Sampling Machine, Track Control

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