Research On Kinematics And Dynamics Of New Garbage Collecting Truck’s Actuator

Common garbage truck can be divided into the following categories: compression type garbage truck, swing arm type garbage truck, hook arm type garbage truck, hanging type garbage truck etc.. However, compression type garbage truck movements are complicated, require complex hydraulic system control. Swing arm type garbage truck is through two support arm swing on the swing under the control of garbage bucket, arm garbage truck is driven by hydraulic system drawing arm pull down the garbage bucket. These two types of garbage truck’s seal is not strict, and easy to cause secondary pollution problem. At the same time, oil spills and other issues have been plaguing the traditional hydraulic garbage truck. The higher cost, higher manufacturing requirements, higher maintenance requirements of hydraulic parts are also increasing the costs of using and maintaining this kind of garbage truck.In view of the above problems, this paper presents a novel multi-degree of freedom controlled mechanism type garbage truck. The novel garbage truck can shovel, compress and discharge waste, and it can overcome the disadvantages that existing garbage truck have which need human or loader for loading. It can reduce the use of facilities in the loading process, reduce the workload, reduce the cost, and can overcome the shortcomings of traditional hydraulic garbage truck whose hydraulic components with high precision machining, maintenance difficult to maintain, high in cost and easy oil leakage. And it is convenient to facilitate. At the same time, in order to verify the realization, stability and rationality of the mechanism, and provides the basis for the dimension synthesis, kinematic pair specific structure design, motor selection, material and lubricating mode choice, this paper analyzes the kinematics and dynamics of the garbage truck’s actuator, finds the singularity. The specific work is as follows:First, designed the implement mechanism of the new garbage truck, used Pro/e to establish three-dimensional model, and analyzed its function and action condition.Secondly, selected the main loading mechanism in the executing mechanism of the new multi-degree of freedom controlled mechanism type garbage truck and analyzed it. Used the corresponding theory to solve the number of independent motion parameters of the loading mechanism. Used the split method to solve the forward position kinematics and inverse kinematics solution and then made numerical analysis and comparison on the results. Then the paper did the analysis on the velocity and acceleration of it. Analyzed the loading mechanism’s singularity and position, established the rigid body dynamics model of the loading mechanism by using Lagrange method and carried out numerical analysis.Finally, the virtual prototype model was established by using Adams, and did the kinematics and dynamics simulation analysis to the mechanism.