九杆两自由度可控机构式装载机工作装置的正解分析  

Analysis on positive solutions of manipulator of nine-bar two-DOF loader with controllable mechanism

作　　者：张林[1] 蔡敢为[2] 王小纯[2] 温芳[2] 陈渊[1] 

机构地区：[1]广西大学土木与建筑工程学院,广西南宁530004 [2]广西大学机械工程学院,广西南宁530004

出　　处：《矿山机械》2015年第3期49-53,共5页Mining & Processing Equipment

基　　金：国家自然科学基金资助项目(51365004;51075077);广西自然科学基金重点项目(2014GXNSFDA118033);广西理工中心重点项目(20120060);南宁市科技局项目(20144223)

摘　　要：与现有装载机相比,可控机构式装载机具有传动效率高、制作维护成本低等特点。为研究此类装载机工作性能,对一种九杆两自由度可控机构式装载机的新型工作装置进行运动学正解分析,并利用ADAMS对其进行了逆运动学仿真,将得到的主动杆的运动参数作为正解模型的输入变量,借助MATLAB对正解模型进行求解。求解结果与逆运动学输入参数的对比结果验证了正解模型的准确性,表明该新型工作装置能较好地满足装载机性能要求。Contrasted with the current loader, the loader with controllable mechanism was characterized by high transmission efficiency, low manufacture and maintenance cost. In order to study the working performance of this kind of loader, the paper conducted kinematics positive solution analysis on the new-type manipulator of a nine-bar two-DOF loader with controllable mechanism, and applied MATLAB to carry out inverse kinematics simulation. After that, the obtained kinematical parameters of the active bar served as the input variables of the positive solution model, and then the positive solution model was solved by using ADAMS. The contrast between solution results and input parameters of inverse kinematics indicated the correctness of the positive solution model, which showed the new-type manipulator could well satisfy the performance requirements of the loader.

关 键 词：装载机 工作装置 位置正解 NEWTON-RAPHSON 

分 类 号：TH243[机械工程—机械制造及自动化]