Through analyzing the kinematics of the hydraulic manipulator operating system, according to the rules for seting up the D-H coordinate system, the generalized coordinate of the manipulator system is established. The ...Through analyzing the kinematics of the hydraulic manipulator operating system, according to the rules for seting up the D-H coordinate system, the generalized coordinate of the manipulator system is established. The rotating and moving joints are selected from the mechanism as joint variables. Each generalized transformation matrix of joints is worked out. The kinematics equation at the finger end of the manipulator is calculated. The obverse solution for the manipulator is gained. The geometrical operating parameters and primary technical specification of the manipulator system are simulated through the computer. The simulative result has shown that the manipulator operating system meets the working task requirements. This research provides theoretical basis for optimizing structural parameters of the manipulator operating. So it also is justified the feasibility for mechanical manipulators to be used in the engineering equipment platform of the hydraulic excavator.展开更多
文摘Through analyzing the kinematics of the hydraulic manipulator operating system, according to the rules for seting up the D-H coordinate system, the generalized coordinate of the manipulator system is established. The rotating and moving joints are selected from the mechanism as joint variables. Each generalized transformation matrix of joints is worked out. The kinematics equation at the finger end of the manipulator is calculated. The obverse solution for the manipulator is gained. The geometrical operating parameters and primary technical specification of the manipulator system are simulated through the computer. The simulative result has shown that the manipulator operating system meets the working task requirements. This research provides theoretical basis for optimizing structural parameters of the manipulator operating. So it also is justified the feasibility for mechanical manipulators to be used in the engineering equipment platform of the hydraulic excavator.
