液压支架逆向运动学分析  

Inverse kinematics analysis of hydraulic support

作　　者：路绪良 闫海峰[1] 张霖[1] LU Xuliang;YAN Haifeng;ZHANG Lin(School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou 221116,China)

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221116

出　　处：《工矿自动化》2018年第10期43-47,共5页Journal Of Mine Automation

基　　金：国家自然科学基金联合基金资助项目(U1510117)

摘　　要：针对现有液压支架正向运动学分析方法无法精确感知顶梁姿态的问题,提出了一种液压支架逆向运动学分析方法。采用SolidWorks软件及其Motion模块建立液压支架三维模型和Motion模型,通过解析液压支架动作来获取Motion数据库,采用三次多项式曲线拟合液压支架各驱动部件运动方程;采用粒子群优化算法优化驱动部件运动方程,得出最优拟合方程,从而得出液压支架最优运动轨迹。试验结果表明,该方法能够准确得出液压支架各驱动部件的运动轨迹,所得结果与实际运动曲线相符。For problem that existing forward kinematics analysis methods of hydraulic support could not predict attitude of top beam accurately,an inverse kinematics analysis method of hydraulic support was put forward.3D model and Motion model of hydraulic support were built by use of SolidWorks software and its Motion module.Motion database was obtained by analyzing motion of hydraulic support,and motion equation of each driving part in hydraulic support was fitted by use of cubic polynomial curve.Then the motion equations were optimized by use of particle swarm optimization algorithm to get the optimal motion equations,so as to obtain the optimal motion tracks of hydraulic support.The test result shows that the method can get motion track of each driving part of hydraulic support correctly,and the result is consistent with the actual one.

关 键 词：液压支架 逆向运动学 顶梁姿态 驱动部件 运动轨迹优化 运动方程拟合 粒子群优化算法 

分 类 号：TD355.4[矿业工程—矿井建设]