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为研究蛇形移动输送机运动学特性,将蛇形输送机各小车视为作平面运动的刚体,运用理论力学中刚体平面运动的基本理论及几何学知识,建立了输送机运动学传递方程及小车相对转角与油缸活塞位移的关系,就几种典型路径(直线-圆周、直线-圆弧、直线-圆弧-直线、“S”形路径)对输送机运动轨迹及油缸活塞位移进行了仿真,仿真结果表明输送机各小车具有很好的轨迹跟踪能力。
In order to study the kinematic characteristics of the serpentine mobile conveyor, the snake-shaped conveyors are regarded as rigid bodies for plane movement. Based on the basic theory and geometric knowledge of rigid body plane movement in theoretical mechanics, the equations of kinematic transfer of the conveyor are established. The relationship between the relative rotation of the car and the piston displacement of the cylinder, on the typical trajectory (straight line - circle, straight line - arc, straight line - arc - straight line, The simulation results show that the conveyor car has a good trajectory tracking ability.