起重运输机械Issue(9)：77-81,5.
液压挖掘机工作装置作业空间研究
马治宁 1徐格宁 1侯鹏龙1
作者信息
- 1. 太原科技大学机械工程学院 太原 030024
- 折叠
摘要
Abstract
The paper proposes describing spatial moving path of bucket tooth using D-H homogeneous coordinate transforming method based on accurate description of spatial moving path of bucket tooth of excavator during excavation. Mathematical model for spatial pose of working device of excavator is established with excavator's boom, bucket arm and bucket taken as three-level mechanical arm of robot on the basis of the principle of robotics. Matlab/Simulink is used for simulating and analyzing its spatial movement, quickly getting envelope diagram of operating excavator. Finally, D-H method proves to be scientifically suitable for analyzing spatial movement of working device of excavator through case study on ZE-360 hydraulic excavator, which provides theoretical basis for analyzing trajectory and working space of excavator working device.关键词
液压挖掘机/D-H法/工作装置/作业空间/包络图Key words
hydraulic excavator/D-H method/working device/working space/envelope diagram分类
交通工程引用本文复制引用
马治宁,徐格宁,侯鹏龙..液压挖掘机工作装置作业空间研究[J].起重运输机械,2017,(9):77-81,5.
