摘要
为研究EBH300型掘进机下支撑机构的运动学关系,建立其机构运动简图,对其自由度进行分析。为得到其各个构件之间的响应关系,利用平面微分几何法建立了其位姿数学模型。在位姿数学模型的基础上通过求导得到了速度及加速度响应。通过分析各个参量之间的递推关系,给出了求解框架。采用基于牛顿迭代的数值解法对机构运动模型中的非解析部分进行求解。通过MATLAB编程对运动模型进行仿真,给出了各个参量的时间响应。该研究表明平面微分几何法避免了系统模型出现三角函数,简化了推导过程及结果的复杂程度。基于迭代的数值解法避免了复杂的解析求解过程。仿真结果验证了推导的数学模型的正确性。
In order to study the kinematic relationship of the EBH300 roadheader’s under-support mechanism,the mechanism-based motion diagram is worked out and its degree of freedom is analyzed.In order to identify the response relationship among various components,the mathematical model of pose is set up by means of the plane differential geometry.Based on the mathematical model of pose,both the responses of velocity and acceleration are obtained by derivation.By analyzing the recursion relations among various parameters,the solution framework is given.The non-analytical part of the kinematic model is solved by the Newton-iteration numerical solution.The motion model is simulated by MATLAB programming,which reveals the time response of each parameter.This study shows that thanks to the plane differential geometry,trigonometric function is prevented in the system model,thus simplifying the derivation process and making the results less complicated.The Newton-iteration numerical solution avoids the complex process of analytical solution.The simulation results verify that the mathematical model is correct.
作者
解思维
王贵和
王玉超
徐军军
XIE Si-wei;WANG Gui-he;WANG Yu-chao;XU Jun-jun(School of Engineering and Technology,China University of Geosciences (Beijing),Beijing 100083;Beijing Institute of Exploration Engineering,Beijing 100083)
出处
《机械设计》
CSCD
北大核心
2019年第6期46-52,共7页
Journal of Machine Design
关键词
掘进机
平面微分几何
下支撑机构
运动学
多体系统
roadheader
plane differential geometry
under-support mechanism
kinematics
multi-body system
