| 挖掘机工作装置运动学建模与分析 |
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| 引用本文： | 黎波,严骏,曾拥华,彭卓,郭刚. 挖掘机工作装置运动学建模与分析[J]. 机械设计, 2011, 28(10) |
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| 作者姓名： | 黎波 严骏 曾拥华 彭卓 郭刚 |
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| 作者单位： | 1. 解放军理工大学工程兵工程学院,江苏南京,210007
2. 总装备部通用装备保障部,北京,100720 |
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| 摘 要： | 为实现挖掘机作业自动控制,建立了挖掘机工作装置4自由度运动学模型。根据变量性质,将挖掘机工作装置分为4种工作空间:驱动空间、关节空间、位姿空间和检测空间。从运动学正解、逆解问题出发,充分利用挖掘机工作装置各构件间几何关系,分别求出了各工作空间之间位置及速度的非线性映射关系。结论为运动控制器设计提供了理论指导。
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| 关 键 词： | 挖掘机工作装置 运动学 建模 |
Kinematics modeling and analysis of excavator working device |
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| LI Bo,YAN Jun,ZENG Yong-hua,PENG Zhuo,GUO Gang. Kinematics modeling and analysis of excavator working device[J]. Journal of Machine Design, 2011, 28(10) |
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| Authors: | LI Bo YAN Jun ZENG Yong-hua PENG Zhuo GUO Gang |
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| Affiliation: | LI Bo1,YAN Jun1,ZENG Yong-hua1,PENG Zhuo2,GUO Gang1(1.Engineering Institute of Engineer Corps,PLA University of Science and Technology,Nanjing 210007,China,2.The Department of General Equipment Supporting Chief of Equipment Staff,Beijing 100720,China) |
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| Abstract: | In order to allow automatic control of the excavator operation,a 4-DOF kinematics model for excavator working device was established.According to the properties of variables,the excavator working space was divided into four categories: actuator space,joint space,pose space and measuring space.Beginning with the problems of direct and inverse kinematics,and by fully utilizing the geometrical relationships of each element in the excavator working device,the non-linear mapping relationships among the four kind... |
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| Keywords: | excavator working device kinematics modeling |
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