Research And Design On Special Locus For Working Device Of Self-propelled Mixing Arm Type Aerial Working Platform Truck

Due to the features of multiple degrees of freedom and work form, mixing armaerial work platform truck is widely used in many fields. Working device is a very importantpart of aerial work platform truck. Its dynamic characteristics influences on the workingsafety and performances of whole equipment strongly. In some special occasion，we needcontrol its locus strictly. The article combine with software of Pro/E、ADAMS、MATLAB、1st0pt，builds virtual prototype of self-mix arm aerial work platform truck. Then, the dynamiccharacteristics of the platform and the method to achieve special locus are simulated andanalyzed accurately. The main works are as following：(1) Design the main components of the working devices. After establishing simplifiedmodel of working devices, the forces of hydraulic cylinders are analyzed and calculated indetail by use of analytical methods. With MTALAB program, the force curves of amplitudehydraulic cylinders are gained.(2) Choose the best location of the amplitude hydraulic cylinders’ hinge points. Bycontrasting the situations of different amplitude hydraulic cylinders, not only the mostsuitable cylinder is determined, but also the position of hinge points is optimized.(3) Establish the3D model of the whole aerial work platform truck in Pro/E software.Base on the solid model, kinematic and dynamic simulations of the working device arepresented in ADAMS. During the process of simulations, the force amplitude cylinderssuffered are obtained. The result shows that the related design is reasonable(4) Building D-H model of working device, through PTP trajectory planning method， thekinematic of work bar is analyzed. Then the method is proved Feasible. Obtain relatedmessage of simulation through MATLAB.(5) By adjusting3D model of virtual prototype and adding message of previous step tojoints in ADAMS simulation environment, special locus of work bar is achieved. The resultshow that the velocity of work bar is stable，acceleration is less than20m m/s2Taking advantages of the superiorities of different software and the technology of virtualprototype simulation and analysis, a method that study on how to achieve special locus of self propelled mixing arm type aerial work platform truck’s working device is provided. Theresults by the method provide some theoretical foundation for designing automatic controlsystem and improving the design of whole aerial work platform truck.