叠加Ⅱ级杆组的正铲液压挖掘机工作机构型综合

提出了一种正铲液压挖掘机工作机构型综合方法——Ⅱ级基本杆组叠加法。针对正铲液压挖掘机工作机构的自由度数目、性质和驱动单元，将其结构分解为基本结构和辅助连杆，并给出了8条构型综合约束条件，进而根据辅助连杆上的运动副数目，分5种情况添加Ⅱ级基本杆组RRR对正铲液压挖掘机工作机构进行了型综合，获得了一系列12杆构型。从中选取了3种构型，针对其多环耦合的结构特点，采用拆杆-等效法分析了其自由度，并建立了相应的仿真模型，开展了运动仿真分析，验证了构型综合方法的可行性。

Configuration Synthesis of Working Mechanisms of Face-shovel Hydraulic Excavators by Adding Ⅱ-class Basic Bar Group

A method of configuration synthesis for the working mechanisms of face-shovel hydraulic excavators was proposed， that was the superposition method based on Ⅱ-class basic bar group. Considering the number and property of degree of freedom（DOF）and driving elements of the working mechanisms of a face-shovel hydraulic excavator， the structure was divided into basic structure and auxiliary links. Eight constraints for configuration synthesis were given. Then， according to the number of joints on the auxiliary links， Ⅱ-class basic bar group RRR was added in five cases to carry out configuration synthesis of the working mechanisms of face-shovel hydraulic excavators， and a series of configurations with 12 links were obtained. Three configurations were selected from them， and in view of the multi-loop coupling structural characteristics of those three configurations， their DOFs were analyzed by using the link-demolishing and equivalent method. Further， the simulation models of three working mechanisms were established， and the motion simulation was carried out， which verified the feasibility of the proposed method.