挖掘机工作装置运动学建模与仿真  

Kinematics Modeling and Simulation of an Excavator Working Device

作　　者：徐兵[1] 朱晓军[1] 刘伟[1] 刘英杰[1] 

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027

出　　处：《机床与液压》2011年第9期97-99,131,共4页Machine Tool & Hydraulics

基　　金：国家高技术研究发展计划(863)项目(2007AA041803);教育部博士点基金资助项目(20090101110041);贵州省重大科技专项((2009)6003)

摘　　要：以液压挖掘机的工作装置为目标,分析运动学三种状态空间变量间的关系,在MATLAB/S imu link仿真环境下对系统进行运动学建模与仿真。通过给定铲斗末端轨迹,求解分析回转马达、动臂油缸、斗杆油缸和铲斗油缸的位移变化关系以及给定执行器位移变化图求解末端轨迹,验证了运动学模型的正确性。基于正运动学分析和装置工作原理,实现了工作空间包络图的快速绘制。To analyze the relationships of the variables from three different state spaces in kinematics,the kinematics model of an excavator working device was built in Matlab/Simulink.Giving a trajectory of the bucket tooth,the varied displacement relations of the motor,the arm cylinder,the boom cylinder and the bucket cylinder were obtained.Giving the varied displacement of the actuator,the track of the bucket tooth was obtained.The validity of the kinematics model was verified.Based on the analysis of forward kinematics and working principles of the working device,the working space envelope diagram of an excavator was drawn rapidly and exactly.

关 键 词：挖掘机 运动学 仿真 包络图 

分 类 号：TD422.2[矿业工程—矿山机电]