抓斗卸船机动态特性数学建模与仿真

Dynamic Modeling and Simulation of a Grab Bucket Shipunloader

应用机器人学理论方法 ,建立了抓斗卸船机工作机构平面三自由度运动学和动力学模型 ,确定了工作机构运动学模型的位移、速度和加速度递推算式和动力学模型的正、反向递推算式 ,确定了工作机构的运动学方程和动力学方程 ,提出了抓斗运行轨迹规划问题 。

This paper initially established a planar kinetic and dynamic model of a shipunloader working unit with three degrees of freedom by the theory and method of the robotics. We upbuilt the computational formulas of displacement, velocity and acceleration of the working unit kinetic model and the direct and inverse computational formulas of the dynamic model. The motion trajectory planning of grab bucket was proposed. Both the experiments and computerized simulation were conducted. The results show that the approach is reasonable and feasible and the acceleration of the trolley is the main factor of the grab swing.