一种正铲挖掘装置的运动性能分析评价

Kinematics Analysis and Performance Evaluation of a Face-Shovel Excavator Device

对一种复杂的串并联工作装置进行了运动性能分析。基于Simulink的建模思想,创造性地搭建了模块分析框图,实现了模块化分析多环路耦合机构的思想。根据自由度公式得出了该机构的自由度满足正铲挖掘所需运动的作业要求,对该装置进行了模块化分析位置正反解,分别用正解的结果和反解的结果相互佐证,在位置分析的基础上又对工作装置的速度作了详尽分析,求出了该装置的速度雅可比矩阵,并且用实际的例子作了验证。此外,以平面六杆机构模块为例,对该模块进行了速度分析,从而得到了该工作装置的速度分析思路。这种以模块的输入输出进行传递的速度分析方法,为该类机构的速度分析提供了新的解决思路。

A new series-parallel coupling mechanism is proposed in this article.The block diagram is creatively constructed based on the Simulink idea,which is successfully used to analyze the series-parallel mechanism.The kinematics forward and inverse solutions are investigated based on the geometrical relationship of each block,and then they are verified based on the numerical examples.The velocity is analyzed by using the method of black diagram.After that,the Jacobian matrix of input velocity and output kinematics are obtained.A new method to analyze the velocity of series-parallel coupling mechanism is obtained through analysis of plane six-bar linkage.This paper offers new idea to solve the complex series-parallel coupling mechanism.