铲运机装载轨迹及驱动力确定

The determination of loading trace and driving force for LHDs

将铲运机装载作业工作部分处理成为具有一个移动副和两个旋转副的机械手系统，定义了系统坐标系及相关参数；应用矩阵理论，推导出了铲运机装载作业任意时刻铲斗位置的计算公式，即铲运机装载轨迹计算公式，以及系统所需的驱动力公式。本文的研究工作对铲运机总体参数确定。

The loading part of a LHD ls treated as a magic-handsystem which includes a travelling palr and a rotary palr, thecoordinate systern and its relevant parameters are clefined. Cal-culation formula for bucket Position at arbitrary mornent . thatis. calculation for loading trace of a LHD, and driving forceformula required by the system are derived through the ma-trlx theory. The studying works described in the paper are im-portant for deterrnining general parameters, working devicedesign parameters and reasonable loading operation method ofa LHD in both theory and practice.