Analysis And Study Of A Multi-DOF Controllable Mechanism Type Novel Electric Loader

Loader is one of the indispensable engineering machinery in engineering construction project and urban construction such as highway, railway, mine, water conservancy, etc, which is widely used in the construction of production in various industry all over the world. The traditional loader is powered by diesel engine, and driven by hydraulic components. And the traditional loader has developed comprehensively, there are many type to choose for different working condition. The economic and environmental novel loader without pollution becomes one of the trends of development. The most study of novel electric loader is based on small size loader, because of the limit of battery and servomotor technology. As the number of small size electric loader is few and far between, and the development of it has important significance.Controllable mechanism has been a research focus in mechanism academic since the concept was proposed, Due to its ability of high speed operation and carrying capacity. The theory of controllable mechanism has a substantial development, but the engineering application of the theory is rarely. Most of the engineering applications are focus on metal forming equipment. So there is a great space to develop for controllable mechanism theory to apply.This paper introduces the application oriented innovative design theories of small size electric loader applying multi-DOF controllable mechanism. The novel electric loader designed by the group members can give a flexible and complex output like traditional loader.By the way, it will overcome the shortcomings of traditional loader, such as high precision of hydraulic system, high costs of manufacturing and maintaining, hydraulic leaks. Furthermore, the novel electric loader is driven all-electric without emissions or pollution, complying with the relevant requirements of the national energy saving. A series of analytical work on multi-DOF controllable mechanism type novel electric loader have done, including:1. The characteristic of multi-DOF controlled mechanism of a new type of electric loading mechanism is analyzed, for the structural characteristics of new electric loaders, having multiple closed-loops and multi-loops, freedom of their mechanism is analyzed by applying screw theory, and kinematic model of the mechanism is obtained by using the vector projection. By comparing the numerical results of the position of forward and inverse solution, correctness of the model is validated, which can provide the basis for programmable control and other related research for future implementations.2. Singularity of each closed loop is analyzed by the theory combined Jcaobian matrix algebra algorithms and geometric method, and 14 kinds of singular type are obtained. Then acquire the all 3 kinds of singularities of electric loader by comprehensive considering of the relationship between each of the rod-scale electric loading mechanism. Boundary conditions of work space are analyzed by implicit function derivation method. Then theoretical work space of new electric loaders is obtain through simulation analysis.3. Conducted ADAMS virtual prototype simulation in the ADAMS environment, by adding drive member on the motion and giving the movement function control drive. The forward and inverse kinematics emulation is conducted. On the basis of the forward kinematics emulation, dynamics simulation is carried out by adding institution load. The simulation verifies the correctness of the structure reflects sports performance of the mechanism, and provide some reference for the subsequent structural optimization work.4. A physical prototype is made by the group members. Process of prototyping is introduced. The analysis results of all above and the rationality of design are proved, by comparing with the preliminary test of physical prototype and simulation results.