摘要
针对某型露天液压钻车对变幅机构进行了介绍,首先利用D-H法建立露天液压钻车变幅机构的坐标系,并采用齐次变换法,建立其运动学方程;选取变幅机构特定姿态,验证所得运动学方程的正确性;利用MATLAB进行编程计算,采用伪随机数法得到露天液压钻车变幅机构的可达工作空间、有效工作空间及有效工作范围的相关视图,并进行了三种工作空间的对比。全面系统的提出了露天液压钻车变幅机构运动学分析方法与相关工作空间的概念。
Based on the some hydraulic top-hammer drill,its luffing mechanism was introduced. The coordination was set with D-H method. With proper calculation and analysis,its kinematics equations were created,after which,those equations were verified by some specific position of the luffing mechanism. With MATLAB software,reachable space,effective space and effective working scale were got and compared with 3D-scatter-views. The analysis method of kinematicswas systematically advanced,which laid on the basis of the dynamics and motion control of hydraulic top-hammer drill luffing mechanism.
出处
《机械科学与技术》
CSCD
北大核心
2015年第5期657-661,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(51375499)
湖南省重点学科建设专项资助
关键词
露天液压钻车
变幅机构
运动学
工作空间
calculations
drilling
dynamics
efficiency
hydraulic top-hammer drill
kinematics
luffing mechanism
MATLAB
mechanisms
motion control
three dimensional
work space
