• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

机械工程学报 ›› 2015, Vol. 51 ›› Issue (1): 60-68.doi: 10.3901/JME.2015.01.060

• 机构学及机器人 • 上一篇    下一篇

一种新型正铲液压挖掘装置的运动学和动力学分析

丁华锋1, 2, 3,刘征1,刘帅1,王成龙1   

  1. 1. 燕山大学工业计算机控制工程河北省重点实验室 秦皇岛 066004；2. 燕山大学先进锻压成形技术与科学教育部重点实验室 秦皇岛 066004；3. 燕山大学河北省并联机器人与机电系统实验室 秦皇岛 066004
  • 出版日期:2015-01-05 发布日期:2015-01-05
  • 作者简介:丁华锋(通信作者)，男，1977年出生，博士，教授，博士研究生导师。主要研究方向为机构综合及机械装备的创新设计。
  • 基金资助:
    国家自然科学基金(51422509，51275437)、河北省自然科学基金(E2014203117, E2012203154)和霍英东教育基金(141049)资助项目

Kinematics and Dynamics Analysis of an Innovative Face-shovel Hydraulic Excavator in Mining

DING Huafeng1,2, LIU Zheng1,LIU Shuai1,WANG Chenglong1   

  1. 1. Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University,Qinhuangdao 066004;
    2. Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education, Yanshan University, Qinhuangdao 066004;
    3. Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao 066004
  • Online:2015-01-05 Published:2015-01-05

PDF

353

摘要： 提出一种可有效增大铲斗液压缸的推力和行程的新型正铲液压挖掘装载装置。通过对机构自由度分析，验证了该工作装置满足挖掘机铲斗作业要求的一个转动自由度和两个移动自由度。基于模块化图形组态和运动链环路理论，建立该机构的运动学分析流程图，并根据流程图对新型机构进行运动学特性分析。采用数值验证的方法给出五组数值算例，通过运动学正解和反解分析结果的对比，验证了分析方法的可靠性和准确性。基于凯恩方法对该新型机构进行动力学分析，将驱动力等效为关节转矩，推导并建立了动力学数学模型。参考卡特彼勒矿用正铲挖掘机的相关尺寸，给定该新型正铲液压挖掘装载装置的结构参数，基于Matlab分别在空载和变阻力情况下对挖掘机水平作业工况下进行动力学仿真研究，结果验证了动力学模型的准确性。研究结果为该新型机构的设计和应用提供了重要的理论依据。

关键词: 动力学分析, 凯恩方法, 运动学分析, 正铲装载装置

Abstract: A new face-shovel hydraulic excavator is proposed, which can effectively increase the thrust and stroke of the bucket cylinder. By analyzing the degrees of freedom of the working device, the result shows that the degrees of freedom are two translations and one rotation on a plane, which can meet the requirements of face-shovel excavators. Based on the graphical modularization and loop algebra theory, a universal mechanical kinematics analysis flow diagram is established, with which the kinematics of the mechanism is investigated. By numerical analysis method, five numerical examples are given to verify the correctness of kinematics analysis. Comparative analyses of the results show that the algorithm is reliable and accurate. Based on Kane’s method and the equivalent torque principle, the dynamics analyses of the new-type mechanism are conducted, and the dynamic mathematical model is deduced and established. Referring to dimension parameters of the caterpillar face-shovel excavator, the structural parameters of the new hydraulic face-shovel excavator are given. Based on Matlab, simulation researches are worked according to the dynamics equations, in the case of horizontal operation, respectively for no load and variable resistance. The analysis results show that the method is reliable. The research result will lay the foundation for the design and application of the novel mechanism.

Key words: dynamics analysis, face-shovel excavator, Kane’s method, kinematics analysis

中图分类号: 

版权所有 © 2019 《机械工程学报》编辑部 | 京icp备05055788号-40