可控装载机构的运动学分析与仿真  

Kinematic analysis and simulation of the controllable loading mechanism

作　　者：张林[1,2] 蔡敢为[2] 朱凯君 李俊明[1] 王小纯[2] 

机构地区：[1]山东交通学院工程机械学院,山东济南250357 [2]广西大学机械工程学院,广西南宁530004

出　　处：《机械设计》2017年第2期7-11,共5页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51365004;51075077);广西自然科学基金资助项目(2014GXNSFDA11833);广西理工中心重点资助项目(T401440317);广西高校现代设计与先进制度重点实验室资助项目(桂科教研[2014]14)

摘　　要：针对一种新型装载机工作装置进行了运动学分析和仿真研究。根据装载机性能要求,确定可控装载机构性能要求;利用解析法建立了运动学逆解模型,并对可控装载机构进行尺度参数设计,通过对逆运动学模型进行数值求解,获得了主动杆运动规律及电传动系统驱动参数。利用ADAMS软件建立可控装载机构虚拟样机模型,在各典型作业工况下对可控装载机构进行正运动仿真,仿真结果证明,该可控装载机构在工作空间内能够顺利完成各作业动作,各构件尺度参数设计合理,铲斗倾角、卸载角等均符合装载机设计要求,为可控装载机构的进一步研究在一定程度上提供了基础。Aiming at a new type of loader working machine, the study performed a kinematics analysis and simulation research. At first, according to the loader performance requirement, the controllable loading mechanism performance requirement was performed. Then, an inverse kinematics model was established using analytical method. The dimension parameter of control- lable loading mechanism was designed. The numerical solution was performed using inverse kinematics model to obtain the mo- tion law of active-member and the driving parameters of electric drive system. At last, a virtual prototype model of controllable loading mechanism was established using ADAMS. The positive motion simulation of controllable loading mechanism in each typical operating condition was obtained. The simulation results showed that this controllable loading mechanism could finish each operating action in its workspace, and the dimension parameters design of each component was reasonable. The inclination angle, discharge angle and etc. of the bucket met the design requirement of loader. This provided basis for the further study of controllable loading mechanism.

关 键 词：可控装载机构 奇异性 运动学 虚拟仿真 

分 类 号：TH112[机械工程—机械设计及理论]