Characteristic Analysis of Cross Thrust Force and Pull Force for a Four Degrees of Freedom Working Mechanism System

Abstract

Abstract:

Aimed at analyzing the walking ability of excavator,a kinematics model for a four degrees of freedom working mechanism system using Denavit-Hatenberg homogeneous transformed matrix was constructed,and the functional relationship of multi-joint arm working unit related to the basis coordinate system was established.The optimum models of solving the maximum cross thrust force and the maximum tensile force for

the four degrees of freedom working mechanism system were proposed according to the connecting relationship of working mechanism system and the different drive mode.

The sequential quadratic programming(SQP) method was employed to solve the linear programming model.The distribution characteristics of the maximum cross thrust force and the maximum tensile force in the operation space were obtained.

Key words: walking mobile excavator, working mechanism system, walking capability, cross thrust force, cross tensile force

摘要：

针对步行式挖掘机的步行能力问题,利用Denavit-Hatenberg齐次变换矩阵建立了四自由度作业装置系统的运动学模型，以确定多节臂作业装置相对于基坐标系的函数关系，根据作业装置各个机构之间的连接关系和不同的驱动方式，分别建立了四自由度作业装置系统的横向最大推力和最大拉力的线性规划优化模型，利用序列二次规划算法求解该优化模型，得到了作业装置在工作空间内的最大横向推拉力的特性分布图。

关键词:

步行式挖掘机, 作业装置系统, 步行能力, 横向推力, 横向拉力

CLC Number:

TH122
TP24

HAN Jun, CHEN Gao-Jie, ZHANG De-En, XIAO Wei.

Characteristic Analysis of Cross Thrust Force and Pull Force for a Four Degrees of Freedom Working Mechanism System

[J]. China Mechanical Engineering, 2010, 21(04): 406-410.

韩军, 陈高杰, 张德恩, 肖伟.

四自由度作业装置系统横向推拉力特性分析

[J]. 中国机械工程, 2010, 21(04): 406-410.

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