某型步履式挖掘机步行式底盘自由度分析  

Degree of Freedom Analysis of Chassis for a Walking Type Excavator

作　　者：邬俊奇 张云 施晓明 于世成 

机构地区：[1]徐工集团工程机械股份有限公司道路分公司

出　　处：《工程机械》2015年第4期39-45,6,共7页Construction Machinery and Equipment

基　　金：国家"863"计划重点项目(2012AA041508)

摘　　要：以某型步履式挖掘机步行式底盘为对象,阐述如何应用简单而实用的公式来计算其自由度。构建步行式底盘各机构简图,对各运动副关系链进行综合得出相关参数,并计算得出前、后腿机构及底盘在各典型状态下的自由度数目。所采用的分析方法能够体现该步履式挖掘机步行式底盘在典型运动状态下的机构运动特点,可为今后步行式底盘分析提供新的思路,同时可对步行式腿类机器人自由度计算提供有益参考。In view of a certain step-walking excavator and its chassis,a simple and practical formula was used to compute its freedom.Therefore,individual assembly diagrams were drawn up,relative data were given by summing up pairs of the moving parts in a chain before providing sets of data as computed from the fore and aft leg supports and the chassis frame under typical conditions,which embodied features of the moving parts and can provide useful ideas and references on freedom computation for such walking apparatus and/or robots.

关 键 词：步履式挖掘机 步行式底盘 自由度分析 

分 类 号：TU621[建筑科学—建筑技术科学]