基于正逆运动学方程的地下铲运机铲斗斗刃运动轨迹分析  

Analysis of the movement track of the bucket edge of the underground LHD based on the forward and inverse kinematics equation

作　　者：张元清 战凯 郭鑫 高泽宇 赵晓燕 ZHANG Yuan-qing;ZHAN Kai;GUO Xin;GAO Ze-yu;ZHAO Xiao-yan(BGRIMM Technology Group,Beijing 100160,China;BGRIMM Machinery and Automation Technology Co.Ltd.,Beijing 100160,China)

机构地区：[1]矿冶科技集团有限公司,北京100160 [2]北矿机电科技有限责任公司,北京100160

出　　处：《矿冶》2021年第4期122-128,共7页Mining And Metallurgy

基　　金：国家重点研发计划项目(2018YFC0604402)。

摘　　要：以多刚体系统运动学为基础,建立地下铲运机工作装置正转六连杆机构运动学方程,推导出基于矩阵的工作装置速度、加速度等数学模型;在此基础上,确定铲斗斗尖与动臂油缸和转斗油缸行程间的数学关系式。之后对铲斗斗刃运动轨迹方程进行分解换算,并与实车铲装轨迹数据对比,验证铲斗斗刃位置与两油缸行程间函数关系的正确性。研究结果可为铲装曲线的设计提供数学依据,并为其运动学仿真奠定基础。On the basis of multi rigid body kinematics,the kinematics equation of forward rotation six bar linkage mechanism of working device of underground LHD was established,and the mathematical models of velocity and acceleration of working device based on matrix were derived.On this basis,the mathematical relationship between the bucket tip and the stroke of the the boom cylinder and bucket cylinder was determined.In addition,the trajectory equation of the bucket edge was decomposed and converted,and compared with the actual shovel loading trajectory data to verify the functional relationship between the position of the bucket edge and the stroke of the two cylinders.The research results can provide mathematical basis for the design of shovel loading curve and lay the foundation for its kinematics simulation analysis.

关 键 词：地下铲运机 多刚体系统 铲斗斗刃 运动学方程 

分 类 号：TF801[冶金工程—有色金属冶金]