挖掘机工作装置的运动学建模与仿真

Kinematic modeling and simulation of excavator working device

基于D-H齐次变换矩阵法建立了挖掘机的运动学模型,为铲斗轨迹规划以及工作装置的逆向运动学分析、动力学分析等奠定了基础。利用MATLAB的符号运算功能通过编制M文件实现了运动学数学模型的自动推导。以某型号挖掘机为例,在建立的运动学模型基础上,利用MATLAB编程实现挖掘包络图的程序化绘制,给出了主要作业性能参数,并与出厂参数进行比较,验证了模型和仿真结果的正确性和精确性,为挖掘机的机构设计提供了一种高效便捷的方法。

Kinematic model of the excavator equipment was set up based on D-H homogeneous transformation matrix, which laid foundations for bucket trajectory planning, inverse kinematic analysis and dynamic analysis. The automatic deduction of kinematic mathematical model was completed by compiling MATLAB＇s M file based on its symbolic operation fimction. On the basis of the model, a certain excavator being taken as the example, procedural drawing of envelope diagram of excavation was realized. In addition main working parameters was given and compared with factory ones, the model and the simulation results proved correct and precise. The study offered an efficient and convenient method for the design of the excavator working device.