单斗液压挖掘机反铲装置作业空间的分析与仿真  

Workspace Analysis and Simulation of Backhoe Attachment for Single Bucket Hydraulic Excavators

作　　者：银光球[1,2] 林述温[1] 

机构地区：[1]福州大学机械工程及自动化学院 [2]福建工程学院机电及自动化工程系

出　　处：《工程机械》2012年第10期54-57,8,共4页Construction Machinery and Equipment

基　　金：国家自然科学基金资助项目(51175068)

摘　　要：在研究液压挖掘机反铲装置作业空间的基础上,对挖掘机的作业空间进行描述,应用矩阵理论和机器人运动学理论,建立挖掘机反铲装置的运动学模型,并推导出反铲装置铲斗齿尖的参数方程。同时,提出采用蒙特卡洛法求解挖掘机反铲装置的作业空间。在MatLab中,编写基于蒙特卡洛法的作业空间仿真程序,模拟挖掘机的作业空间,仿真结果与采用虚拟样机技术在ADAMS中仿真结果基本一致,证明采用蒙特卡洛法分析、模拟挖掘机反铲装置作业空间的有效性和实用性。The text as based on a study of backhoe in the hydraulic excavator describes operational space of the machine while constructing a kinematical model for the backhoe attachment thru a matrix method and robot kinematical theory,besides deducing a data equation for the backhoe bucket tips.At the same time we suggested to utilize the Monte Carlo method to solve operational space of the attached backhoe.We wrote in a MatLab a simulation program for the operational space as based on the Monte Carlo method,and found that the simulation result is basically consistent with that through ADAMS which adopts a virtual prototype of the machine,thus proving effectiveness and practice of the backhoe attachment by means of an analysis using the Monte Carlo method and the simulation.

关 键 词：作业空间 反铲装置 蒙特卡洛法 液压挖掘机 

分 类 号：TU621[建筑科学—建筑技术科学]