D-H坐标系下挖掘机工作装置运动学建模与仿真  

The Modeling and Simulating Research for the Excavator Working Device in D-H Coordinates

作　　者：陈支 邹树梁[1] 唐德文[1] 谢宇鹏[1] 

机构地区：[1]南华大学核应急安全技术与装备湖南省重点实验室,湖南衡阳421001

出　　处：《机械设计与制造》2014年第11期188-190,195,共4页Machinery Design & Manufacture

基　　金：湖南省科技重大专项(2012FJ1007);高等学校博士学科点专项科研基金(20134324110001);中国博士后面向基金(2013M542123)

摘　　要：应用机器人运动学求解常用的D-H法建立挖掘机工作装置4自由度运动学数学模型,分析了挖掘机工作装置运动过程中铲斗齿尖位移、速度、加速度与空间位置的运动关系。在此基础上采用Pro/E和大型有限元软件ADAMS建立挖掘机工作装置虚拟样机模型。对挖掘机工作装置进行了运动学仿真,得到了铲斗齿尖位移、速度、加速度动态曲线,并对动态曲线进行了分析,验证了运动学模型的正确性。这种方法简化了解析计算,同时求得的解具有使用性和代表性,对挖掘机工作装置的设计具有普遍的适用意义。Based on D-H method, a common method in robot kinematics solving, the four degrees of freedom of kinematics model of the excavator working device is established. Meanwhile, the kinematics relationship between displacement, velocity and acceleration of bucket tooth and spatial location of excavator working device is analyzed. The virtual prototype model of excavator working device is established based on Pro/E and ADAMS. Then the dynamic curves of displacement, velocity and acceleration of the bucket tooth are gotten from the kinematic simulation of excavator working device. The result of dynamic curve analysis shows that the kinematics model is correct. This method can simplify the cunt process of numerical-analytical method and its radixes are practicability and representative. It has universal applicability in desiznin~ for excavator working devbce.

关 键 词：D-H坐标系 挖掘机 工作装置 ADAMS 仿真分析 

分 类 号：TH16[机械工程—机械制造及自动化] U469.694[机械工程—车辆工程]