摘要
在3自由度装载机运动学为模型的基础上,进行了装载机运动学分析,并规划出笛卡儿空间的斗齿迹(包括位姿、速度和加速度)。通过计算机数值仿真,对铲装作业过程中的动阻力进行了研究,其结果表明动阻力不到垂直静阻力的10%。
Based on the 3-DOF kinematics model of wheel loader, the kinematics analysis is carried out, and two kinds of scooping trajectories (including position/orientation, velocity and acceleration,), called triangle type and trapezoid type respectively, were discussed both in joint space and Descartes space. With numerical simulation, the dynamic resistance of bucket, which is produced by the material in bucket, was investigated. It shows that the dynamic resistance is less than 10% of vertical statistic resistance.
出处
《中国煤炭》
北大核心
2005年第9期37-40,共4页
China Coal
