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From the view of robotics, kinematical and dynamical analyses of the WD400 Mechanical Forward Excavator are carried out in this paper. Transformation of the manipulator abstracted from the excavator is determined. Forward and Inverse kinematical analyses are given and the trajectories of bucket movement and their mathematic descriptions are derived. The kinematical and dynamical models as well as the excavating resistance along the trajectories are obtained. The computer simulations are included in this paper.
From the view of robotics, kinematical and dynamical analyzes of the WD400 Mechanical Forward Excavator are carried out in this paper. Transformation of the manipulator abstracted from the excavator is determined. Forward and Inverse kinematical analyzes are given and the trajectories of bucket movement and their mathematic The kinematical and dynamical models as well as the excavating resistance along the trajectories are obtained. The computer simulations are included in this paper.