液压挖掘机工作装置动力学建模与分析  

Modeling and analysis of hydraulic excavator mechanism dynamics

作　　者：孙旭国[1] 黄孙灼[1] 林述温[1] 

机构地区：[1]福州大学机械工程及自动化学院,福建福州350002

出　　处：《建筑机械化》2007年第7期33-37,共5页Construction Mechanization

基　　金：福建省自然科学基金资助项目(2006J0024)

摘　　要：提出一种基于牛顿-欧拉方程的挖掘机工作装置动力学数学模型的推导方法。利用Matlab符号运算功能,编制M文件实现数学模型自动推导,整个建模和运算过程简单、直观和高效。以某中型挖掘机为例进行分析,结果表明模型很好地反映了挖掘机工作装置的动力学特性。A method of the excavator mechanism dynamics modeling based on Newton-Euler equation was presented and that automation of the modeling was realized by programming with symbolic math toolbox of Matlab makes the modeling efficient and easy to understand. Animation of an excavator mechanism was completed to verify the model built and the simulation results show that the dynamic model is solid.

关 键 词：液压挖掘机 工作装置 动力学模型 建模 

分 类 号：TU621[建筑科学—建筑技术科学]