对光伏电站移动机械臂倾覆稳定性的研究是其安全、高效作业的前提。采用重力法分析移动机械臂在水平路面和倾斜路面的静态稳定性,以倾覆力矩为标识对移动平台与机械臂耦合状态下的稳定性进行分析,并利用Matlab和Adams仿真验证移动机械臂的稳定性,结果表明移动机械臂在水平路面上进行作业运动时处于稳定状态;通过分析移动机械臂在倾斜路面上的稳定性,确定其可安全操作的最大路面倾斜角度。
Abstract
The study of the tip-over stability of mobile manipulators in photovoltaic plants is crucial for ensuring their safe and efficient operation. This paper employs the gravity method to analyze the static stability of the mobile manipulator on both horizontal and inclined surfaces. Using the tip-over moment as a criterion, the stability of the coupled state between the mobile platform and the manipulator is assessed. Matlab and Adams simulations are utilized to verify the stability of the mobile manipulator. The results indicate that the mobile manipulator operates stably on horizontal surfaces. By analyzing the stability of the mobile manipulator on inclined surfaces, the maximum allowable slope angle for safe operation is determined.
关键词
光伏电站 /
移动机器人 /
稳定性 /
运维 /
倾覆力矩法
Key words
PV power station /
mobile robots /
stability /
operation and maintenance /
tip-over moment criterion
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基金
甘肃省省级引导科技创新发展专项资金（2018ZX-13）; 甘肃省自然科学基金（18JR3RA139）
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