| 机械式挖掘机建模及动力学分析 |
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| 引用本文： | 冯国平,周建鹏,谌勇,华宏星.机械式挖掘机建模及动力学分析[J].机械设计与研究,2008,24(5). |
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| 作者姓名： | 冯国平 周建鹏 谌勇 华宏星 |
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| 作者单位： | 上海交通大学,机械系统与振动国家重点实验室,上海,200240 |
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| 摘 要： | 利用机器人理论和方法对机械式挖掘机进行建模和动力学研究.首先根据WS-005机械式挖掘机的结构及运动特性,采用机器人建模方法,建立了挖掘机模型,求出其运动学方程;然后结合工程机械作业特点,探讨了挖掘轨迹规划的方法,并给出挖掘过程中的规划结果;最后运用拉格朗日法求出其动力学方程,并分析了挖掘过程中所受的外力,进而给出该过程中动力学结果,为下一步机械式挖掘机的智能控制提供了重要依据.
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| 关 键 词： | 机器人理论 机械式挖掘机 挖掘轨迹 动力学 |
Modeling and Dynamic Analysis of a Mechanical Excavator |
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| FENG Guo-ping,ZHOU Jian-peng,CHEN Yong,HUA Hong-xing.Modeling and Dynamic Analysis of a Mechanical Excavator[J].Machine Design and Research,2008,24(5). |
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| Authors: | FENG Guo-ping ZHOU Jian-peng CHEN Yong HUA Hong-xing |
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| Affiliation: | FENG Guo-ping1,ZHOU Jian-peng,CHEN Yong,HUA Hong-xing (State Key Laboratory of Mechanical system , Vibration,Shanghai Jiao Tong University,Shanghai,200240) |
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| Abstract: | This paper presents a robotic model and dynamic equations of a mechanical excavator based on the robot method. Firstly,according to the WS-005 mechanical excavator configuration and characteristics,a robotic model of this system was presented,by D-H principle. and kinematic equations could be obtained. Under an excavation task,the bucket digging trajectory based on the manipulator characteristics was gotten. Then,considering external forces in contact with the soil during the process,dynamic equations of th... |
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| Keywords: | robot theory mechanicd excavator digging trajectory dynamics |
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