装载机铲掘作业的轨迹规划

为给装载机的铲掘作业寻找一条能耗较小的铲掘轨迹，根据经验及有关文献给出的较理想的直线和曲线两种铲掘作业的轨迹方程，经过对装载机铲掘作业的轨迹规划及运动学建模，实现铲掘轨迹由直角坐标空间向关节空间转换以及由关节空间向驱动空间转换，得到动臂油缸和转斗油缸的驱动方程，并给出铲斗在实现铲掘轨迹的过程中所受的作用力。对在ADAMS环境下ZL40装载机仿真模型进行仿真，结果表明，装载机在同样时间内完成同样的作业量下，直线铲掘轨迹所作的总功小于曲线铲掘轨迹。

Track Planning for a Wheel Loader in a Digging

To seek a track which consumes less energy for a wheel loader in a digging process, the track equations of two kinds of ideal tracks, a beeline and a curve, are given according to experience and relevant literature. The tracks are transformed from right-angle-space coordinate to joint-space coordinate, and from joint-space coordinate to drive space through track planning and kinematics modeling for the type of ZL40 wheel loader in a digging process. The drive equations of the lift cylinder and tilt cylinder...