【摘要】 为了对三节臂挖掘装置进行优化设计,采用Denavit-Hatenberg齐次变换矩阵建立了整个挖掘装置的运动学模型,确定了各个关节相对于基础坐标系的函数关系式。根据三节臂挖掘装置的特点,建立了以挖斗挖掘时主挖掘区内挖斗油缸主动作用力充分发挥的比例为目标函数的优化设计计算模型,得到了挖掘装置在挖掘范围内的挖掘力的分布特性,为三节臂挖掘装置的设计提供了理论依据。更多还原

【Abstract】 With Denavit-Hatenberg homogeneous transform matrix,the kinematics model of a three-arms excavating device is constructed and the functions of all revolving joints based on the basic reference frame are established to optimize the design of three-arms excavating device. According to the characteristics of the three-arms excavating device,the optimization model of the proportion is established when the bucket arm active force is made full use in the main excavating area. Furthermore,the distribution of the excavating force in the excavating area is obtained. Thus the foundations of the design are provided.更多还原