摘要
应用机器人学理论,建立了三自由度液压挖掘机工作装置的运动学和拉格朗日动力学模型,得出了工作装置关节转矩与铲斗末端位置、速度和加速度之间的关系,并用M atlab对末端沿直线轨迹运动时的动力学进行了仿真。研究结果可以用于挖掘机工作装置的轨迹规划和运动控制。
The kinematical and dynamic model of three - degree - of - freedom manipulator for a hydraulic excavator with robotics theory was established. Then the relationship among the moment of manipulator and the angular displacement, angular velocity and angular acceleration of the bucket＇ s tip was obtained. The motion was simulated with Matlab when the tip of bucket moves along a level trace. The result could be used in trajectory tracking and motion control of the excavator＇ s manipulator.
出处
《机床与液压》
北大核心
2006年第10期170-171,共2页
Machine Tool & Hydraulics
基金
国家"863"资助项目(2003AA430200)
