摘要
研究了一种适合正铲挖掘的新型机构,分析了该机构自由度,得到该机构的自由度为3,即机构具有平面内的两个移动自由度和一个转动自由度,满足正铲挖掘机的作业要求。分析了该机构位置正解,及铲斗在3组不同的液压缸驱动尺寸下的位姿变化。最后分析了该机构位置反解,结果显示铲斗的姿态主要取决于动臂液压缸。此研究为该机构的应用奠定了理论基础。
In this paper, a new face-shovel excavator is studied, its the degree of freedom is gotten and proved that it includes two translations and one rotation in a plane, and meet the requirements of face-shovel excavator. The forward position kinematics are derived, and the changes of the position and orientation of the shove/are analyzed when three group of different lengths of the hy draulic cylinders are given. Finally inverse position kinematics are solved, which show that the orientation of the shovel is depended on the hydraulic cylinder of the boom. The study will lay the foundation for the application of this mechanism.
出处
《燕山大学学报》
CAS
2013年第4期305-310,共6页
Journal of Yanshan University
基金
国家自然科学基金资助项目(50905155
51275437)
河北省自然科学基金资助项目(E2010001266
E2012203154)
关键词
正铲液压挖掘机
平面机构
自由度
运动学正解
运动学反解
face-shovel excavator
planar mechanism
degree of freedom
forward position kinematics
inverse position kinematics
