Workspace Analysis of Hydraulic Follow-up Arm based on Monte Carlo Method

Pengyun Feng; Liangbin Zhan; Yanping Xiao; Tiancheng Huang

doi:10.16578/j.issn.1004.2539.2022.02.014

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Workspace Analysis of Hydraulic Follow-up Arm based on Monte Carlo Method

Test·Analysis | 更新时间：2022-09-25

- Workspace Analysis of Hydraulic Follow-up Arm based on Monte Carlo Method
- Journal of Mechanical Transmission Vol. 46, Issue 2, Pages: 85-90(2022)
- 作者机构：
  
  1.长江大学机械结构强度与振动研究所，湖北荆州 434100
  2.苏州道森钻采设备股份有限公司，江苏苏州 215000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.02.014
  CLC：
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冯鹏云,詹良斌,肖艳平等.基于蒙特卡罗方法的液压随动臂工作空间分析[J].机械传动,2022,46(02):85-90.

Feng Pengyun,Zhan Liangbin,Xiao Yanping,et al.Workspace Analysis of Hydraulic Follow-up Arm based on Monte Carlo Method[J].Journal of Mechanical Transmission,2022,46(02):85-90.
冯鹏云,詹良斌,肖艳平等.基于蒙特卡罗方法的液压随动臂工作空间分析[J].机械传动,2022,46(02):85-90. DOI： 10.16578/j.issn.1004.2539.2022.02.014.

Feng Pengyun,Zhan Liangbin,Xiao Yanping,et al.Workspace Analysis of Hydraulic Follow-up Arm based on Monte Carlo Method[J].Journal of Mechanical Transmission,2022,46(02):85-90. DOI： 10.16578/j.issn.1004.2539.2022.02.014.

摘要

以某公司的液压随动臂为研究对象，建立改进型D-H坐标系，通过运动学正解方程求解了液压随动臂末端执行器的三维工作空间。根据蒙特卡罗方法和极值理论求解压裂作业井口高度处的工作面，研究了在固定停车误差下，液压随动臂臂长对停车距离和工作宽度的影响规律。结果表明，在固定停车误差下，当前大臂长度大于等于后大臂长度时，随着液压随动臂前大臂的加长，停车距离等斜率增大，工作宽度基本不变；随着液压随动臂后大臂的加长，停车距离基本不变，工作宽度等斜率变宽。在此基础上，提出了通过设定合理接口高度，缓解两臂臂长差值较大的方法。研究结果可为液压随动臂优化设计提供理论参考。

Abstract

Taking the hydraulic follow-up arm of a company as the research object， an improved D-H coordinate system is established， and a 3D workspace of the end-effector of the hydraulic follow-up arm is solved by the forward kinematics equation. Based on Monte Carlo method and extreme value theory， the working face at the height of fracturing wellhead is solved， and the influence of the arm length of hydraulic servo arm on the stopping distance and working width is studied under the condition of fixed stopping error. The results show that， under the fixed stopping error， when the current arm length is greater than or equal to the rear arm length， with the extension of the front arm of the hydraulic follow-up arm， the equal slope of the stopping distance increases， and the working width is basically stays unchanged. With the extension of the large arm after the hydraulic follow-up arm， the parking distance is basically stays unchanged， but the slope such as the working width becomes wider. On this basis， a reasonable interface height is proposed to alleviate the large difference between the two arms. The research results can provide theoretical reference for the optimization design of the hydraulic follow-up arm.

关键词

液压随动臂蒙特卡罗法极值理论Matlab仿真工作空间

Keywords

Hydraulic follow-up armMonte Carlo methodExtremum theoryMatlab simulationWorkspace

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