基于Simulink的铲运机连杆机构动力学建模

连杆机构是地下铲运机的重要工作装置，其设计质量、动力学特性直接影响整机的生产率、工作性能。本文利用拉格朗日原理建立了地下铲运机连杆机构六连杆组铲掘过程和举升过程的动力学模型，得到了连杆的初始位置角与液压缸提供的转矩之间的关系，并在Matlab／Simulink中建立相应的模块图，为转矩的设计提供了依据，为地下铲运机连杆机构的动力学仿真及动态性能研究奠定了基础。

Dynamics Modeling of Underground LHD Linkages Based on Simulink

Linkages are important working units of underground LHD(Load-haul-dump) and its design quality and dynamics have direct influences on productivity and working performance of the machine. In this paper, dynamics models of shoveling and lifting process for six-bar group of the LHD's linkages are established by using theory of Lagrange, relation between linkages' initial position angle and torque hydraulic provided by cylinder is found, and the relevant module charts are established by Matlab/Simulink, which provides basis for designing the torque, and lays a foundation for dynamics simulation and dynamic characteristics study of the LHD's linkages.