步行式挖掘机越障能力分析  

Climbing ability analysis for walking mobile excavator

作　　者：韩军 陈高杰 王红坚 兰士新 何绍华 

机构地区：[1]总装工程兵科研一所,江苏无锡214035

出　　处：《中国工程机械学报》2005年第1期25-28,共4页Chinese Journal of Construction Machinery

摘　　要：针对步行式挖掘机在越障过程中的稳定性和作业装置可提供支承性问题,建立了作业装置的多自由度运动方程和整机越障时的稳定性分析力学模型,提出了一种关于步行式挖掘机越障能力分析的优化模型,利用逐步二次规划法对挖掘机的越障高度和作业装置的支承点位置参数进行了优化,计算结果表明,该优化方法具有较强的实用性和可靠性,可为确定步行式挖掘机的越障性能参数提供理论依据.In order to solve the problem of the climbing stability for walking mobile excavator and the possible support point provided by working device,the multi-degree movement equations for working device and the mechanical model for analyzing the climbing stability of the working mobile excavator are established in this paper.An optimum model for analyzing the climbing ability of the walking mobile excavator is employed ,the maximum climbing height and the position parameters of working device are optimized by using the sequential quadratic programming method.The results show that the proposed method is practical and reliable enough to apply to design the excavator,and can provide theoretical basis for confirming the climbing parameters of the walking mobile excavators.

关 键 词：步行式挖掘机 越障 稳定性 优化 逐步二次规划 

分 类 号：TH123[机械工程—机械设计及理论] O22[理学—运筹学与控制论]