悬臂式掘进机工作机构动力学建模与仿真

对悬臂式掘进机进行机器人化模型简化,建立其运动雅可比矩阵,将截割阻力变换为掘进机的广义外力,推导出关节速度与末端速度、关节驱动力与广义截割阻力之间的变换关系。利用Matlab编制M文件进行了关节速度和驱动力的仿真,结果表明模型很好地反映了掘进机工作装置的动力学特性,为掘进机的运动和动力学控制提供了依据。

Modeling and Simulation of Boom Type Roadheader Work Manipulator

The roboticized model of boom-type roadheader was established and roadheader Jacobian matrix was presented.Cutting resistance forces focused on the cutting head were transformed into roadheader generalized forces and the transform relation of drive velocity and forces between the joint and the manipulator were deduced.Matlab M documents had been prepared to simulate the joint velocity and drive force.The simulation result shows that the dynamics model is solid and provides kinematics and dynamics basis for roadheader control.