优化重型机械臂结构参数，用电动直线马达降耗提效。
Energy-Cautious Designation of Kinematic Parameters for a Sustainable Parallel-Serial Heavy-Duty Manipulator Driven by Electromechanical Linear Actuator
- 针对电驱液压机械臂的闭环结构，设计节能型运动学参数。
- 仿真验证可降低系统总能耗，支持液压元件替换成电驱动。
- 适合从事新能源工程机械与自动化设计的工程师参考。
电气化是应对气候变化的关键策略，正推动工业转型，非公路机械（OHM）将从内燃机和液压驱动转向全电气化。电磁直线执行器（EMLA）具有更高效率、更安全、维护少等优势，可实现高性能自主操作。然而，如何优化车载机械臂的运动学参数以适配EMLA集成，充分发挥执行系统性能，仍是关键挑战。本文聚焦于常见闭链结构的重载机械臂结构优化，在保持原有功能基础上降低能耗，为工业自动化迈向绿色未来铺路。通过在商用电池电动车搭载的平行-串联式重型机械臂上进行仿真验证，结果表明该方法能有效调整运动学参数，实现液压装置向EMLA的替换，同时显著降低系统整体能耗。
原文摘要 · Abstract (English)
Electrification, a key strategy in combating climate change, is transforming industries, and off-highway machines (OHM) will be next to transition from combustion engines and hydraulic actuation to sustainable fully electrified machines. Electromechanical linear actuators (EMLAs) offer superior efficiency, safety, and reduced maintenance, and they unlock vast potential for high-performance autonomous operations. However, a key challenge lies in optimizing the kinematic parameters of OHMs' on-board manipulators for EMLA integration to exploit the full capabilities of actuation systems and maximize their performance. This work addresses this challenge by delving into the structural optimization of a prevalent closed kinematic chain configuration commonly employed in OHM manipulators. Our approach aims to retain the manipulator's existing capabilities while reducing its energy expenditure, paving the way for a greener future in industrial automation, one in which sustainable and high-performing robotized OHMs can evolve. The feasibility of our methodology is validated through simulation results obtained on a commercially available parallel-serial heavy-duty manipulator mounted on a battery electric vehicle. The results demonstrate the efficacy of our approach in modifying kinematic parameters to facilitate the replacement of conventional hydraulic actuators with EMLAs, all while minimizing the overall energy consumption of the system.
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