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针对一种新型装载机工作装置进行了运动学分析和仿真研究。根据装载机性能要求,确定可控装载机构性能要求;利用解析法建立了运动学逆解模型,并对可控装载机构进行尺度参数设计,通过对逆运动学模型进行数值求解,获得了主动杆运动规律及电传动系统驱动参数。利用ADAMS软件建立可控装载机构虚拟样机模型,在各典型作业工况下对可控装载机构进行正运动仿真,仿真结果证明,该可控装载机构在工作空间内能够顺利完成各作业动作,各构件尺度参数设计合理,铲斗倾角、卸载角等均符合装载机设计要求,为可控装载机构的进一步研究在一定程度上提供了基础。
Kinematics analysis and simulation research on a new type of loader working device. According to the performance requirements of the loader, the performance requirements of the controllable loading mechanism were determined. The kinematic inverse model was established by analytical method, and the scale parameters of the controllable loading mechanism were designed. The inverse kinematics model was solved numerically, Movement rule and electric drive system drive parameters. The ADAMS software is used to establish the virtual prototype model of the controllable loading mechanism. The simulation results show that the controllable loading mechanism can finish each operation smoothly in the working space. The design of component scale parameters is reasonable, the dip angle of bucket, unloading angle and so on are all in line with the design requirements of loader. The further study of controllable loading mechanism provides the foundation to a certain extent.