车载起重机械吊臂工作范围的研究

Denavit-Hatenberg方法是一种用R4×4齐次坐标变换矩阵描述机械手臂位姿的方法。我们把这种方法引入车载起重机械工作范围的研究,以确定车载起重机各主要部件随吊起重物的移动,其质心位置相对于基础坐标系的变化函数关系,从而确定车载起重机整体质心位置的变化函数。通过整体质心位置的变化函数,我们可以解出车载起重机重量和起重载荷对所有支撑的作用力。最终在支撑作用力允许的安全裕度下,确定车载起重机吊臂的安全工作范围。

A Study on the Work Space for a Truck Crane Boom

The Denavit-Hatenberg method is for describing a robot arm configuration by the R~(4×4) homogeneous transformation matrices.The method is introduced into the study of the work space on a truck crane boom to determine the mass-center function of all the main units in the truck crane in relation to the original coordinate frame when the main units move in pace with the movement of the lifted load and to determine the mass-center function of the whole truck crane.We can solve the action of the whole truck crane and the lifted load action on all support legs by using the mass-center function.Eventually,we can determine the safe work space according to the permissible safety degree of the support action.