基于Matlab的钻车推进梁旋转机构的运动学仿真

Kinematics Simulation of Feeding Beem Rotating Mechanism of Rock Drilling Rig Based on Matlab

推进梁的旋转是凿岩钻车用于钻孔定位的一个很重要的运动,对Atlas D7钻车独特的五杆旋转机构进行了运动学仿真。对结构模型进行了介绍与简化处理,借鉴四连杆机构理论,得到机构的数学模型;借助Matlab软件,调用fsolve函数,对非线性方程组进行求解,得到了推进梁转角随油缸连续伸长的变化曲线;分析比较了其他类型的推进梁旋转机构,验证了五杆机构运行的高效性和平稳性。

The beem’s rotation is an important motion of freedom of the rig for the drill positioning.The kinematics simulation on the ＂five-bar＂ rotating mechanism was done. The structure model was introduced and simplified and then the mathematical model was achieved based on the four-bar linkage theory. The changing curve of the beem’s angle was getted by solving the non-linear equations with the fsolve function in the Matlab. The ＂five-bar＂ mechanism’s preponderance of steady and efficiency was showed by contrasting it with other mechanisms.