挖掘机臂杆长度的运动学优化

机械的运动优化应先于动力优化实施,但运动优化目标函数难以确定,因此应用较少,挖掘机是一种仿生工程机械,工作对铲斗应能在工作空间中沿任意路径迅速移动,基于矩阵奇异值分解建立的,运动能力准则可以较准确地衡量护斗参考点沿任意方向快速运动的能力,并由此得到挖掘机动臂和斗杆的最优长度比。

The kinematic optimization of the arm length of shovel

The kinematic optimization of a machine should be prior to the implemenation of the dynamic optimization. Yet the objective function of kinematic optimization is difficult to define, so consequently it has seldomly been put in use. Shovel is a kind of bionics engineering machinery, while at work, its bucket should be able to move rapidly alongany path in the working space. The movability criterion, established in view of the decomposition of singular value in matrix, is able to measure rather accurately the ability of fast moving along any direction of the refference point on the bucket, and the optimal length ratio between moving arm and rod of bucket of shovel is thus obtained.