基于蒙特卡洛法的挖掘机反铲装置作业空间分析与仿真  

Operational space analysis and simulation on excavator backhoe equipment based on Monte Carlo method

作　　者：银光球[1] 

机构地区：[1]福建工程学院机械与汽车工程学院,福建福州350108

出　　处：《中国工程机械学报》2013年第4期327-330,共4页Chinese Journal of Construction Machinery

摘　　要：根据挖掘机反铲装置作业情况,对挖掘机作业空间进行了有效的描述.应用矩阵理论和机器人运动学理论,建立了挖掘机反铲装置的运动学模型,并推导出反铲装置斗齿尖的参数方程.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,编写了基于蒙特卡洛法挖掘机反铲装置的作业空间仿真程序,直观地模拟了挖掘机的作业空间,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.Based on the operational situations of excavator backhoe equipment, the operational space is effectively described. By applied the matrix and robotic kinematics theories, the excavator backhoe equipment kinematical model is established. Accordingly, the parametric equation of backhoe toe is deduced. Meanwhile, the Monte Carlo method is proposed to solve the operational space. In addition, the simulation model of operational space is intuitionally programmed using MATLABTM. Due that the simulation results from this method are accorded to those from virtual prototyping technique using ADAMSTM. Therefore, the effectiveness and practicality of this approach is proven.

关 键 词：作业空间 蒙特卡洛法 反铲装置 

分 类 号：TU602[建筑科学—建筑技术科学]