四自由度挖掘装置的力学特性分析

为了分析四自由度挖掘作业装置的力学特性,利用Denavit-Hatenberg齐次变换矩阵建立了作业装置的运动学模型,确定了各个关节相对于基础坐标系的函数关系式。根据作业装置各个关节之间的连接关系和不同的驱动方式,分别建立了斗杆、铲斗挖掘时的最大挖掘力优化求解模型,得到了作业装置在工作空间内的挖掘力、倾翻力矩和水平作用力的分布特性,为作业装置的设计、挖掘机作业稳定性分析和安全控制提供了依据。提出的优化分析方法,具有简单、可靠的特点,有理论和工程应用价值。

Mechanical property analysis of four-freedom excavating device

With Denavit-Hatenberg homogeneo us t ransfo rm matr ix , the kinemat ics model o f a four-f reedom excavat ing device w as co nst ructed and the funct ions of all revolv ing jo int s based o n the basal refer ence fr ame were established to analyze the mechanics pro perty of the excavato r w orking device. Accor ding to the connect ing relat ionship and driven modes of the joints, the opt imum analyt ic models of the max imum excavating fo rces in the condit ions o f arm ex cav at ing and bucket arm ex cavat ing w ere set respect iv ely . Furthermore, the distr ibutio n characterist ics of the max imum excavating forces, the tilt ing moment s and the ho rizontal act ing forces in the excavat ing area w er e obtained. Thus the foundat ions of the desig n, the stabil ity analysis, and the safety co nt rol o f the four -freedom ex cavat ing devices w ere pro vided. T he proposed opt imal method is reliable and simple, and has impo rtant pract ical value fo r indust rial applications