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