机械制造与自动化Issue(2)：117-120,126,5.DOI:10.19344/j.cnki.issn1671-5276.2018.02.032
液压挖掘机轨迹规划及运动仿真
Trajectory Planning and Kinematic Simulation of Hydraulic Excavator
摘要
Abstract
D-H (Denavit-Hartenberg) matrix method is used to analyze the kinematics and inverse kinematics of hydraulic excava-tor working device and draw the relation among driving mechanism space,joint space and bucket posture space. Robotics Toolbox is used to establish the simulation model of its working device,and the point to point trajectory planning(PTP) and kinematic simula-tion is done to get the change of the joint angle of arm,boom bucket and posture of bucket end with time change.Then,the hydrau-lic cylinder position is solved through the inverse kinematic analysis.The reasonability of the operation space and kinematic parame-ter of the rod pieces is verified.A simple method is provided for its kinematic simulation and the foundation is laid for its independent research.关键词
液压挖掘机/工作装置/轨迹规划/运动仿真Key words
hydraulic excavator/working device/trajectory planning/kinematic simulation分类
建筑与水利引用本文复制引用
胡海浪,殷晨波,周俊静,贾文华..液压挖掘机轨迹规划及运动仿真[J].机械制造与自动化,2018,(2):117-120,126,5.基金项目
江苏省科技计划前瞻性联合研究项目(SBY2015020146) （SBY2015020146）
