液压挖掘机轨迹规划及运动仿真  

Trajectory Planning and Kinematic Simulation of Hydraulic Excavator

作　　者：胡海浪 殷晨波[1] 周俊静[1] 贾文华[2] HU Hailang;YIN Chenbo;ZHOU Junjing;JIA Wenhua(Institute of Automobile and Construction Machinery,Nanjing University of Technology,Nanjing 211800,China;Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京工业大学车辆与工程机械研究所,江苏南京211800 [2]南京工程学院,江苏南京211167

出　　处：《机械制造与自动化》2018年第2期117-120,126,共5页Machine Building & Automation

基　　金：江苏省科技计划前瞻性联合研究项目(SBY2015020146)

摘　　要：运用D-H(denavit-hartenberg)矩阵法对液压挖掘机工作装置进行正、逆运动学分析,得出挖掘机驱动机构空间、关节空间以及铲斗位姿空间的关系。运用Robotics Toolbox建立挖掘机工作装置运动学仿真模型并进行点到点轨迹规化和运动学仿真,得出动臂关节、斗杆关节和铲斗关节角度以及铲斗末端位姿随时间的变化,再通过逆运动学求解出液压油缸的位置。检验了该型号挖掘机作业空间和各杆件运动参数的合理性,为挖掘机运动仿真提供了一种简便的方法,并为挖掘机的自主挖掘研究奠定了运动学基础。D-H(Denavit-Hartenberg)matrix method is used to analyze the kinematics and inverse kinematics of hydraulic excavator working device and draw the relation among driving mechanism space,joint space and bucket posture space.Robotics Toolbox is used to establish the simulation model of its working device,and the point to point trajectory planning(PTP)and kinematic simulation is done to get the change of the joint angle of arm,boom bucket and posture of bucket end with time change.Then,the hydraulic cylinder position is solved through the inverse kinematic analysis.The reasonability of the operation space and kinematic parameter of the rod pieces is verified.A simple method is provided for its kinematic simulation and the foundation is laid for its independent research.

关 键 词：液压挖掘机 工作装置 轨迹规划 运动仿真 

分 类 号：TU621[建筑科学—建筑技术科学] TP391.9[自动化与计算机技术—计算机应用技术]