基于D-H法的液压挖掘机工作装置作业空间分析  

Analysis on workspace of working device of hydraulic excavator based on D-H method

作　　者：吴卓[1] 孙克义[1] 宋鸣[1] 郑敏[1] 

机构地区：[1]兰州理工大学机电工程学院,甘肃兰州730050

出　　处：《矿山机械》2014年第1期33-36,共4页Mining & Processing Equipment

摘　　要：为了计算液压挖掘机的作业空间,将挖掘机工作装置视为取物机器人的手臂,用D-H法对其作业空间进行描述。与虚拟样机技术相比,D-H法无需建立挖掘机工作装置的虚拟样机,只需要根据挖掘机工作装置各铰点之间的设计尺寸及转动范围,即可对挖掘机的作业空间进行计算,使设计人员在设计初期就可以判断设计方案的合理性。To calculate the workspace of the hydraulic excavator, the working device of the excavator was regarded as the robot manipulator, whose workspace was described by D-H method. Contrasted with virtual prototype technology, the virtual prototype of the working device of the excavator did not need to build during application of D-H method, and the workspace of the excavator could be calculated according to the design dimensions of various hinges of the working device and their rotation range. The method could make it possible for designers to judge the reasonableness of the design scheme during designing process.

关 键 词：液压挖掘机 工作装置 作业空间 D-H法 

分 类 号：TU621[建筑科学—建筑技术科学]