摘要
目前,铲装机械手的动力学解析主要针对主动关节进行,对从动关节的动力学问题还很少进行过研究.在铲装机械手阻力检测系统设计时,有时需要在从动关节处安装力传感器,并对传感器的输出进行动力项、静力项的分离.为此,本文以铲装机械手主动关节动力学解析为基础,对连杆的受力进行了全面分析,推导出了从动关节的动力学计算式.在对主动关节和从动关节动力学解析进行综合的基础上,提出了全关节动力学的概念,并给出了铲装机械手全关节动力学方程式.
The kinematic model of wheel loader is called bucket manipulator, and it has three closed loops. At present, the dynamics analysis on bucket manipulator is always for the driving joints. But sometimes, it is necessary to analyze the dynamics of driven joints, separating the dynamic and static items of the output from force sensor fixed on the driven joint, or to optimize a manipulator with closed loops. In this paper, based on the dynamics analysis on driving joints, the dynamics analysis on driven joints is carried out, and all of the driven joints＇ dynamic forces are derived. Integrating both of driving and drivon joints＇ forc＇es, the whole ioint dynamics equation is derived.
出处
《武汉理工大学学报（交通科学与工程版）》
2007年第1期161-164,共4页
Journal of Wuhan University of Technology（Transportation Science & Engineering）
关键词
铲装机械手
闭链机构
从动关节
动力学解析
bucket manipulator
closed loop manipulator
driven joints dynamics analysis
