四自由度作业装置系统横向推拉力特性分析  

Characteristic Analysis of Cross Thrust Force and Pull Force for a Four Degrees of Freedom Working Mechanism System

作　　者：韩军 陈高杰 张德恩 肖伟 

机构地区：[1]总装工程兵科研一所,无锡214035

出　　处：《中国机械工程》2010年第4期406-410,共5页China Mechanical Engineering

摘　　要：针对步行式挖掘机的步行能力问题,利用Denavit-Hatenberg齐次变换矩阵建立了四自由度作业装置系统的运动学模型,以确定多节臂作业装置相对于基坐标系的函数关系,根据作业装置各个机构之间的连接关系和不同的驱动方式,分别建立了四自由度作业装置系统的横向最大推力和最大拉力的线性规划优化模型,利用序列二次规划算法求解该优化模型,得到了作业装置在工作空间内的最大横向推拉力的特性分布图。Aimed at analyzing the walking ability of excavator,a kinematics model for a four degrees of freedom working mechanism system using Denavit-Hatenberg homogeneous transformed matrix was constructed,and the functional relationship of multi-joint arm working unit related to the basis coordinate system was established.The optimum models of solving the maximum cross thrust force and the maximum tensile force for the four degrees of freedom working mechanism system were proposed according to the connecting relationship of working mechanism system and the different drive mode.The sequential quadratic programming（SQP） method was employed to solve the linear programming model.The distribution characteristics of the maximum cross thrust force and the maximum tensile force in the operation space were obtained.

关 键 词：步行式挖掘机 作业装置系统 步行能力 横向推力 横向拉力 

分 类 号：TH122[机械工程—机械设计及理论] TP24[自动化与计算机技术—检测技术与自动化装置]