四自由度挖掘装置的力学特性分析

Mechanical property analysis of four-freedom excavating device

为了分析四自由度挖掘作业装置的力学特性,利用Denavit-Hatenberg齐次变换矩阵建立了作业装置的运动学模型,确定了各个关节相对于基础坐标系的函数关系式。根据作业装置各个关节之间的连接关系和不同的驱动方式,分别建立了斗杆、铲斗挖掘时的最大挖掘力优化求解模型,得到了作业装置在工作空间内的挖掘力、倾翻力矩和水平作用力的分布特性,为作业装置的设计、挖掘机作业稳定性分析和安全控制提供了依据。提出的优化分析方法,具有简单、可靠的特点,有理论和工程应用价值。

With Denavit-Hatenberg homogeneous transform matrix,the kinematics model of a four-freedom excavating device was constructed and the functions of all revolving joints based on the basal reference frame were established to analyze the mechanics property of the excavator working device.According to the connecting relationship and driven modes of the joints,the optimum analytic models of the maximum excavating forces in the conditions of arm excavating and bucket arm excavating were set respectively.Furthermore,the distribution characteristics of the maximum excavating forces,the tilting moments and the horizontal acting forces in the excavating area were obtained.Thus the foundations of the design, the stability analysis,and the safety control of the four-freedom excavating devices were provided.The proposed optimal method is reliable and simple,and has important practical value for industrial applications.