建立電動履帶式高空作業車安全姿態模型

Establishment of a safe attitude model for the electrically tracked aerial work vehicle

李健(Li, C.) ； 張汶肇(W. C. Chang)

《臺南區農業改良場研究彙報》 75期 (2020/06) Pp. 88-102

摘要

創新設計之電動履帶式高空作業車利用電動馬達驅動帶來靈活移動操控，另外其漸進且穩定的扭力輸出亦能降低吊桿上作業臺的振動搖晃，可增加使用上的安全穩定度。透過電腦輔助設計軟體模擬出其在不同負載及吊桿舉升角度下總質心的座標資料。利用這些資料及集總元素模型，建立出機臺總質心座標的預測公式；此公式所算出座標精度可達±6mm以內。分析機臺底盤俯仰及橫搖傾斜後整體質心於空間中之移動，並建立質心投影於機臺底盤面之位置的計算式。進行了不同吊桿角度、負載及安全係數下底盤達到傾覆的臨界傾斜角度分析；並得出在安全係數為1.4時，高空作業車的安全操作條件。現有技術：目前高空作業車的安全姿態分析以電腦模擬或實機測試為主，其結果不容易應用至姿態感測系統中的微電腦進行快速辨識運算。創新內容：本研究利用電腦模擬出高空作業車在不同負載及吊桿舉升角度下總質心的座標資料，並利用其建立出機台總質心座標的精準預測公式，並納入安全係數建立判斷機台是否處於安全姿態的計算方法。對產業影響：本研究的模型建立及計算方法可延伸至各式高空作業車，並可搭配姿態感測器快速即時偵測高空作業車是否處於安全姿態。

關鍵字

電動 ； 履帶 ； 高空作業 ； 安全姿態

並列摘要

A novel design of electrically tracked aerial work vehicle with an electric motor driving to bring a flexible movement control was described. In addition, its progressive and stable torque output can also reduce the vibration of working platform on the boom and increase the safety and stability in use. Its coordinates of overall mass center under different loads and boom lifting angles is simulated by the CAD software. Using these data and the lumped-element model, a prediction formula for the mass center of the machine is established with an accuracy of ± 6 mm. The movement of mass center in the space after the pitching and rolling of machine chassis is analyzed, and the projected position of mass center on the chassis plane is formulized. The critical tilt angle analyses of chassis reaching tip-over under different boom angle, load and safety factor are conducted; the safe operating conditions of this aerial work vehicle with a safety factor of 1.4 are concluded. What is already known on this subject? The safe attitude analyses of aerial work vehicles are mainly based on computer simulation or actual machine testing, and their results are difficult to be utilized in the microcomputer of attitude sensing system for the rapid calculation and identification. What are the new findings? This work uses the computer to simulate the coordinates of overall mass center of aerial work vehicle under different loads and boom lifting angles and uses them to establish an accurate prediction formula. It also incorporates the safety factor to establish the method to calculate whether this machine is in a safety attitude. What is the expected impact on this field? The model building and calculation methods of this study can be extended to various types of aerial work vehicles, it can also be applied to an attitude sensing module to instantly detect whether the aerial work vehicle is in a safe attitude.

並列關鍵字

Electrical ； Track ； Aerial work ； Safe attitude