四节臂轮式挖掘机工作装置运动学分析与优化设计  

Kinematics Analysis and Optimization Design of Four-Linkage Working Device for Wheel Excavator

作　　者：单晓敏[1] 曹宇[2,3] 张真畅 吴晓强[1] SHAN Xiao-min CAO Yu ZHANG Zhen-chang WU Xiao-qiang(Inner Mongolia University for the Nationalities College of Mechanical Engineering College, Inner Mongolia Tongliao 028000, China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Hebei Qinhuangdao 066004, China XCMGExcavating MachineryCo.Ltd, Jiangsu Xuzhou 221000, China)

机构地区：[1]内蒙古民族大学机械工程学院,内蒙古通辽028000 [2]燕山大学河北省并联机器人与机电系统实验室,河北秦皇岛066004 [3]徐州徐工挖掘机械有限公司,江苏徐州221000

出　　处：《机械设计与制造》2017年第7期216-219,222,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(6144041)

摘　　要：应用D-H法对针对市场上四节臂轮式挖掘机工作装置进行运动学分析,包括连杆坐标系的建立、位姿变换矩阵的计算和运动学方程的建立;以对比现有设计数据的挖掘角度和力臂增量之和为优化目标,结合市场某型号挖掘机工作装置的基本参数,在不改变主要构件长度的前提下针对液压缸铰点位置进行优化设计;在MATLAB平台下通过输入优化变量实现挖掘包络图的自动绘制,并对比优化前后包络图。在不影响挖掘力的前提下,优化后的挖掘范围增加率相对于力臂减小率提高了约3倍,且铲斗挖掘力也有部分提升,优化效果较为显著。The kinematics analysis f or four-linkage working device of wheel excavator on market was proposed by applying D-H method, including the establishment of linkage coordinate system, calculatingposition and pose transformation matrix and kinematlcs equation. Then rotation angle and arm incrementswere taken as the optimize functionwhich were affected by revolute joint location, to find the best location data compared with original design data of a certain excavator productwithout changing its main structure dimension~ Lastly the digging envelop was automatically drew only by inputting optimization variables which if programed in MATLAB.The result of optimization demonstrated that the increments of average rotating angle were 3 times of that in arm, increasing the bucket digging force at the same time, which indicated the promotion of movement performanceafter optimization.

关 键 词：轮式挖掘机 四节臂工作装置 D—H法运动学分析 多目标优化设计 

分 类 号：TH16[机械工程—机械制造及自动化] TH112.1