摘要
讨论了钻装机耙渣工作装置(耙臂)的结构原理,将其作为平面三自由度冗余机械手,通过控制末端执行器(斗齿尖)跟踪规划好的期望轨迹来实现耙渣作业;利用D-H法对耙臂进行了运动学分析,采用MATLAB对耙臂进行运动学仿真计算,对耙臂的工作范围进行分析,为动力学仿真以及自动控制研究奠定了基础,为进一步提高耙渣作业的工作效率提供了数据基础。
Structural principle of rake-loading working device of drill loader were discussed, this rake- loading working device was considered to planar 3-DOF redundant manipulator, rake-loading operation was completed by controlling End-effector and making End-effeetor to track expected track. The method of D-H was used to kinematics analysis and simulation of rake-loading working device was making by Matlab. An optimized scheme was proposed for rake-loading working device. These were considered to base of dynamic simulation and automatic control. So improvement of rake-loading working device workin~ efficiency was oossible.
出处
《煤矿机械》
北大核心
2012年第4期69-71,共3页
Coal Mine Machinery
关键词
钻装机
耙臂
运动学仿真
drill loader
rake-loading working device
kinematics analysis
