基于D-H法的挖掘机工作装置运动学分析

Kinematical analysis of the excavator working device based on D-H methodology

本文以三自由度机械手为研究对象,用机器人运动学中常用的D-H法建立运动学数学模型,进行正反向运动学分析。另外,结合挖掘机工作装置的机构学分析,理清工作装置各参数变量与斗齿位姿的关系,确定工作装置运动过程中的控制规律。从而为运动学软件仿真模块提供较为合理的输入参数,并可验证仿真结果的正确性。

Excavator Working device is a 3 Degree Of Freedom(DOF) manipulator.Kinematical Analysis of the Excavator Working device can be realized by Analysis of the manipulator based on D-H methodology which is used traditionally in robotics.Firstly,according to D-Hmethodology,the kinematics mathematic model is established and then its forward and inverse kinematics are analyzed.In addition to analyzing mechanism of the device,the relationships between the device's parameters and the status of bucket tooth tine are demonstrated.Then the motion control laws of the device will be attained which will furnish appropriate input parameters for simulation software and verify correctness of results.