步行式挖掘机底盘纵向坡度适应性分析

Longitudinal gradient slope adaptability analysis for walking excavator chassis

针对步行式底盘纵向坡度地形环境适应能力问题,利用D-H矩阵建立了步行式底盘的运动学模型,构造了步行式底盘纵向坡度作业时环境适应能力分析的多目标优化模型,利用效用函数法求解建立的多目标优化模型,对步行式底盘纵向最大适应的坡度、底盘机构和作业回转平台的状态参数进行了优化分析。结果表明,该方法具有简单、可靠的特点,可为步行式挖掘机的坡度行驶、作业时的安全控制提供理论依据。

Aimed at the adaptability of walking chassis on longitudinal gradient slope, a kinematics model for walking excavator chassis was constructed using Denavit-Hatenberg homogeneous transformed matrix. A mathematical model of multi-objective optimization for the walking chassis adaptability on the longitudinal gradient slope was constructed. The utility function method was employed to solve the optimal model. The maximum adaptability angle on the longitudinal gradient slope, the state parameters of the walking mechanism and the rotating platform were optimized. The results show that the proposed method is simple and reliable, which can provide theoretical basis for confirming the climbing and working parameters on the longitudinal gradient slope and safety controlling.