| 钻装机耙渣工作装置运动学仿真分析 |
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| 引用本文： | 任晓华,任运涛.钻装机耙渣工作装置运动学仿真分析[J].煤矿机械,2012,33(4):69-71. |
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| 作者姓名： | 任晓华 任运涛 |
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| 作者单位： | 1. 中煤科工集团重庆研究院,重庆,400039
2. 伊泰煤炭股份有限公司,内蒙古鄂尔多斯,017000 |
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| 摘 要： | 讨论了钻装机耙渣工作装置(耙臂)的结构原理,将其作为平面三自由度冗余机械手,通过控制末端执行器(斗齿尖)跟踪规划好的期望轨迹来实现耙渣作业;利用D-H法对耙臂进行了运动学分析,采用MATLAB对耙臂进行运动学仿真计算,对耙臂的工作范围进行分析,为动力学仿真以及自动控制研究奠定了基础,为进一步提高耙渣作业的工作效率提供了数据基础。
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| 关 键 词： | 钻装机 耙臂 运动学仿真 |
Kinematics Simulation of Loader Rock Device for Drill Loader |
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| REN Xiao-hua
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REN Yun-tao.Kinematics Simulation of Loader Rock Device for Drill Loader[J].Coal Mine Machinery,2012,33(4):69-71. |
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| Authors: | REN Xiao-hua REN Yun-tao |
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| Affiliation: | 1.Chongqing Research Institute of China Coal Techoology Engineering Group Corp,Chongqing 400039,China;2.Yitai Coal Limited Company,Eerduosi 017000,China) |
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| Abstract: | Structural principle of rake-loading working device of drill loader were discussed,this rake-loading working device was considered to planar 3-DOF redundant manipulator,rake-loading operation was completed by controlling End-effector and making End-effector to track expected track.The method of D-H was used to kinematics analysis and simulation of rake-loading working device was making by Matlab.An optimized scheme was proposed for rake-loading working device.These were considered to base of dynamic simulation and automatic control.So improvement of rake-loading working device working efficiency was possible. |
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| Keywords: | drill loader rake-loading working device kinematics analysis |
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