Design And Path Planning Of The Hydraumatic Platform Lorry

With the continuous improvement of industry in worldwide,the transport vehicles has played an increasingly important role in modern industry.Hydraumatic Platform Lorry is a modern high-tech engineering transport vehicle mainly featuring large transport capacity,highly integrated mechanic-electric-hydraulic-system,sophisticated electronic control technology and path planning technology.Therefore,the research of Hydraumatic Platform Lorry is of great significance to the development of transportation industry.Based on the actual needs of users,this thesis focuses on the design of Hydraumatic Platform Lorry and the path planning of vehicles in plant.The main research contents are as follows:First of all,determining the basic design size and layout scheme of the Hydraumatic Platform Lorry according to the user's needs.Designing and matching of the main components of the "machine-electric-Liquid" system of the Hydraumatic Platform Lorry vehicle through theoretical analysis and the combination of various types of selection standards.SolidWorks is applied to virtual modeling and assembly of the selected components according to the actual proportion,which ensures the strucural alignment of the selected components.Using ANSYS software to analyze the strength of the frame,and the results meet the design requirements.Secondly,the model selection and mathematical analysis of the vehicle steering system are made.Through the comparison of the existing steering system,the selected rotary reducer is calculated as the steering mechanism of the hydraulic flat car.Through mathematical analysis and MATLAB programming,the theoretical value of each axle and wheel of steering wheel is obtained.According to the motion theory of the robot,the optimal equation of the position transformation of the hydraulic flat plate is derived,which provides a mathematical basis for the design of the vehicle control system.Finally,aiming at the problem of the path planning of hydraulic platform,to improve the disadvantages of single algorithm path planning,in this thesis,on the basis of rasterize map,using the A*algorithm and particle swarm algorithm fusion method for path planning,and A mathematical simulation is performed using MATLAB software.By comparing the improved path of the fusion algorithm and the path of A*algorithm,the improvement effect of the fusion algorithm is verified.This thesis solved some design work in detail for the Hydraumatic Platform Lorry,and has made an in-depth discussion on the path planning scheme to provide some basis for the future.