液压挖掘机工作空间极限分析  

Analysis on Hydraulic Excavator's Workspace Limit

作　　者：曾超[1] 罗艳蕾[1] 

机构地区：[1]贵州大学机械工程学院,贵州贵阳550003

出　　处：《贵州大学学报（自然科学版）》2011年第5期22-24,共3页Journal of Guizhou University:Natural Sciences

基　　金：贵州省重大专项字(2009)6003号

摘　　要：液压挖掘机的高效性,使其在工农业生产、军事等众多领域得到了广泛的应用。工作空间参数,是设计与选用挖掘机的重要依据。求逆解是挖掘机机器人化需要解决的问题,若铲斗位姿超出工作空间,则会引起无逆解。挖掘机的工作范围是多条曲线围成的平面区域,而临界姿态角的函数图像则是一张空间曲面。本研究使用SolidWorks添加约束与MATLAB的数据处理功能,实现了对挖掘机工作空间极限的分析。Hydraulic excavators are widely used in various fields such as industrial and agricuhural production and military fields for their high efficiency. The parameters of workspace are important basis of designing and choosing excavator. Solving the inverse solution is required when the excavator is robotized. If the bucket position is beyond workspace, there＇s no inverse solution. The range of workspace is a planar region bounded by several curves, while the function graph of the critical attitude angle is a piece of space curved surface. In this study, the workspace limit of excavators is analyzed in virtue of the application of adding constraints in SolidWorks and the function of data processing in MATLAB.

关 键 词：挖掘机工作装置 SOLIDWORKS MATLAB 

分 类 号：TH113[机械工程—机械设计及理论] TU621[建筑科学—建筑技术科学]