机械式挖掘机挖掘轨迹的确定

挖掘轨迹是机械式挖掘机挖掘理论研究中的重要内容,铲斗只有沿着合理的挖掘轨迹运动,才可以实现高效和低耗作业.分析了等切削角对数螺旋线轨迹模型的不足,并在此基础上以工作机构的运动关系为出发点,利用机构运动学理论及坐标变换理论,分别以2种途径推导了挖掘轨迹方程.利用MATLAB软件模拟了机械式挖掘机的挖掘轨迹,并用ADAMS软件进行了虚拟样机运动学仿真和验证.仿真结果与轨迹方程的模拟结果一致,验证了轨迹方程的正确性.

Excavating track determination on mechanical excavators

Abstract： The excavating track determination secures a crucial position in the excavation theory of me- chanical excavators. Only along a rational excavating track, the high-efficient and low-consumptive excava- tion can be realized. Firstly, the insufficiency of the logarithmic spiral track model is analyzed in terms of equal cutting angles. Based on the kinematic relations of working mechanism, two excavating track equa- tions are then deduced using the mechanism kinematic and coordinate transformation theories. By simula- ting the excavating tracks of mechanical excavators via MATLABTM, the virtual prototype kinematical sim- ulation and experimental verification are finally conducted using ADAMSTM. Therein, it is indicated the simulation results from virtual prototype and trajectory equation are consistent to validate the correctness of track equations.