一种新型正铲液压挖掘机的运动学分析

基于平面12杆3自由度运动链图拓扑图库,提出一种复杂多环耦合新型正铲液压挖掘机构。基于运动链环路理论和模块化图形组态,对机构进行运动学建模。考虑到铲斗的水平推铲作业能力是正铲液压挖掘机的一个重要性能指标,基于MATLAB平台,对机构运动学进行仿真分析。仿真结果表明,该新型机构具有良好的水平推铲能力。通过给出5组不同的液压缸尺寸数据,利用运动学位置正解与反解相互验证,证明了运动学位置分析的准确性。基于运动学正解分析新型正铲液压挖掘机铲斗的理论可达工作空间,得出该挖掘机构的铲斗姿态角保持在100°~120°时水平挖掘的工作空间最大,满足正铲挖掘机水平挖掘作业的要求。研究结果为该新型正铲液压挖掘机构的设计和使用提供参考。

Kinematics Analysis of a New Face-shovel Hydraulic Excavator in Mining

A new type of hydraulic excavator with complex multi-ring coupling was proposed, based on the planar 12 bar 3 DOF movement chain graph topology library. Based on the theory of motion link and modularized graphics configuration, kinematics modeling of the mechanism was carried out. Considering the horizontal shoveling operation ability of the bucket was an important performance index of the hydraulic excavator, the simulation analysis of the mechanism kinematics was carried out based on MATLAB. The simulation results show that the new mechanism has good horizontal shoveling ability. The accuracy of the kinematics position analysis was proved by using the kinematics position positive solution and the inverse solution to verify the data of five different hydraulic cylinder sizes. Positive solution based on the kinematics analysis of new type hydraulic excavator is shovel bucket theory work space, it is concluded that the attitude angle of the bucket maintains 100°~120° with maximum level mining work space, to meet the requirements of the shovel level mining operations. The research results provides reference for the design and use of the new hydraulic excavator.