反铲液压挖掘机运动学分析及轨迹规划  

Kinematics Analysis and Trajectory Planning of Backhoe Hydraulic Excavator

作　　者：蔡敢为 田军伟[2] 王芬 齐港 CAI Gan-wei;TIAN Jun-wei;WANG Fen;QI Gang(Department of Physics and Electronic Engineering,Hechi University,Guangxi Yizhou 546300,China;College of Mechanical Engineering,Guangxi University,Guangxi Nanning 530004,China;Hu’nan Sany Polytechnic College,School of Engineering Machinery,Hu’nan Changsha 410000,China)

机构地区：[1]河池学院物理与机电工程学院,广西宜州546300 [2]广西大学机械工程学院,广西南宁530004 [3]湖南三一工业职业技术学院,湖南长沙410000

出　　处：《机械设计与制造》2024年第10期235-241,共7页Machinery Design & Manufacture

基　　金：国家自然科学基金(51765005);广西科技重大专项资助项目(桂科AA19254021)。

摘　　要：这城以某型反铲液压挖掘机为研究对象,用螺旋理论对挖掘机进行了自由度分析,对挖掘机进行了参数建模,并基于螺旋理论、微分及对位置方程直接求导的三种方法对挖掘机进行了速度加速度分析,并给出了求解速度加速度的算例,最后求解了挖掘机的工作空间;挖掘机实际工作过程中,由于土壤环境的复杂性,为保证挖掘机平稳连续的工作,在一定运动学约束范围下提出了一种基于粒子群算法的无障碍最优时间轨迹规划;文章进行了挖掘机的Adams仿真实验,对Matlab中进行的数值轨迹规划进行了仿真,结果证明了Matlab中轨迹规划的正确性。文章为反铲液压挖掘机的设计提供了一种参考,提出的无障碍最优时间多项式插值规迹规划在避障的同时节省了工作时间,使挖掘机能更加高效平稳的工作。Based on a certain type of backhoe hydraulic excavator as the research object,using screw theory to the degree of freedom analysis of excavator,excavator for the parametric modeling,and based on screw theory,the differential and the location equation direct derivation of the three methods of excavator,analyzed the speed acceleration and solving speed acceleration calculation example is given,and finally solving the excavator working space;in the actual working process of the excavator,due to the complexity of the soil environment,in order to ensure the stable and continuous work of the excavator,an obstacle free optimal time trajectory planning based on particle swarm optimization algorithm was proposed under certain kinematics constraints.The Adams simulation experiment of excavator is carried out,and the numerical trajectory planning in Matlab is simulated.The results prove that the trajectory planning in Matlab is correct.This paper provides a reference for the design of the backhoe hydraulic excavator,and the optimal time polynomial interpolation program is proposed to save the working time while avoiding obstacles,so that the excavator can work more efficiently and stably.

关 键 词：挖掘机 螺旋理论 运动学分析 规迹规划 仿真实验 

分 类 号：TH16[机械工程—机械制造及自动化] TH11TH112.1