基于正逆运动学方程的地下铲运机铲斗斗刃运动轨迹分析

以多刚体系统运动学为基础,建立地下铲运机工作装置正转六连杆机构运动学方程,推导出基于矩阵的工作装置速度、加速度等数学模型;在此基础上,确定铲斗斗尖与动臂油缸和转斗油缸行程间的数学关系式。之后对铲斗斗刃运动轨迹方程进行分解换算,并与实车铲装轨迹数据对比,验证铲斗斗刃位置与两油缸行程间函数关系的正确性。研究结果可为铲装曲线的设计提供数学依据,并为其运动学仿真奠定基础。

Analysis of the movement track of the bucket edge of the underground LHD based on the forward and inverse kinematics equation

Based on the kinematics of multi-rigid Body, the kinematics equations of forward-rotating six-bar linkage mechanism are established , and the mathematical models of velocity and acceleration of working device based on Matrix also is derived . On this basis,the mathematical relationship between the bucket tip and the stroke of the two cylinders is determined. At the same time, the relationship between the position of the bucket edge and the stroke of the boom cylinder and the bucket cylinder is further verified. It provides the mathematical basis for the design of shovel loading curve and lays the foundation for its kinematics simulation analysis.