反铲液压挖掘机运动轨迹分析

An Analysis of Trajectory in Hydraulic Backhoe Excavators

为实现挖掘机动臂-斗杆机构的改进,对该机构的运动轨迹进行研究分析.利用坐标变换矩阵法建立了挖掘机动臂-斗杆机构的数学模型,推导出了机构运动轨迹的一般表达式,对特定条件下的轨迹表达式作了进一步推导,结合该机构的实际运动情况对结果进行相应地分析.最后,利用M atlab软件对上述推导结果进行了仿真验证.仿真结果表明:仿真所得轨迹曲线与表达式结果相符,可以作为混合驱动可控机构应用于挖掘机动臂-斗杆机构的基础.

The boom-bucket linkage of excavator was studied.Mathematic models of the boom-bucket linkage were built with coordinate transformation matrix,and the general expression of its trajectory was derived.Further results were given under some special conditions.The comparison between the expression and the practical trajectory were made.The trajectory simulation was carried out with Matlab.The simulation results showed that the simulated trajectory agreed well with the formulas.The above study can be taken as the basic of the hybrid-driven mechanism applied to the boom-bucket linkage in an excavator.