本文選題：正鏟液壓挖掘機(jī) + 正鏟挖掘裝置　； 參考：《燕山大學(xué)》2013年碩士論文

【摘要】：隨著露天煤礦開(kāi)采需求的不斷增加，大型正鏟液壓挖掘機(jī)得到了越來(lái)越廣泛的應(yīng)用。目前國(guó)外生產(chǎn)的正鏟挖掘裝載裝置有兩種構(gòu)型，然而，由于國(guó)外知識(shí)產(chǎn)權(quán)的壟斷，國(guó)內(nèi)只能生產(chǎn)一種構(gòu)型的正鏟挖掘裝載裝置。鑒于此，本文綜合出了15種新型正鏟挖掘裝置，并且提出了多環(huán)耦合機(jī)構(gòu)運(yùn)動(dòng)學(xué)分析的通用方法，利用該方法實(shí)現(xiàn)了15種正鏟挖掘裝置的自動(dòng)運(yùn)動(dòng)分析。 筆者以美國(guó)特雷克斯公司的12桿3自由度“Triple-Power”型正鏟挖掘裝置為基準(zhǔn)，，基于運(yùn)動(dòng)鏈拓?fù)鋱D圖譜庫(kù)綜合出了全部的平面單鉸12桿3自由度運(yùn)動(dòng)鏈拓?fù)鋱D，通過(guò)建立“322篩選原則”、“運(yùn)動(dòng)鏈轉(zhuǎn)換原則”、“正鏟挖掘裝置優(yōu)選原則”對(duì)機(jī)構(gòu)進(jìn)行優(yōu)選，最終優(yōu)選出15種新型的適合正鏟挖掘的工作裝置。 為進(jìn)一步分析這類機(jī)構(gòu)的性能，首先需要對(duì)其進(jìn)行運(yùn)動(dòng)學(xué)分析。針對(duì)其多環(huán)耦合的特點(diǎn)，提出了基于“最小運(yùn)動(dòng)單元”的通用分析方法。首先把正鏟挖掘裝置拆分成最小運(yùn)動(dòng)單元，然后對(duì)其進(jìn)行運(yùn)動(dòng)學(xué)分析，并將其分析過(guò)程編寫成子程序模塊。根據(jù)正鏟挖掘裝置環(huán)路間的幾何關(guān)系建立運(yùn)動(dòng)分析框圖，該運(yùn)動(dòng)學(xué)分析框圖不僅表示了該機(jī)構(gòu)運(yùn)動(dòng)學(xué)分析時(shí)所需要的最小運(yùn)動(dòng)單元，而且還表示了各最小運(yùn)動(dòng)單元之間輸入與輸出的傳遞關(guān)系。最后根據(jù)運(yùn)動(dòng)分析框圖所表示的最小運(yùn)動(dòng)單元之間的輸入與輸出的傳遞關(guān)系，編寫運(yùn)動(dòng)學(xué)分析的主程序，從而實(shí)現(xiàn)自動(dòng)的運(yùn)動(dòng)學(xué)分析。 基于MATLAB程序設(shè)計(jì)語(yǔ)言編寫了正鏟挖掘裝置運(yùn)動(dòng)學(xué)自動(dòng)分析軟件，該軟件能夠?qū)υ?5種正鏟挖掘裝置的位置正解、位置反解、工作空間、速度分析、雅可比及性能參數(shù)進(jìn)行自動(dòng)的分析。
[Abstract]:With the increasing demand of opencast coal mining, large hydraulic excavators have been used more and more widely. At present, there are two types of forward shovel excavating and loading devices produced abroad. However, due to the monopoly of foreign intellectual property rights, only one type of forward shovel excavating and loading device can be produced in China. In view of this, this paper synthesizes 15 kinds of new forward excavating devices, and puts forward a general method of kinematics analysis of multi-ring coupling mechanism, and realizes the automatic motion analysis of 15 kinds of forward shovel excavating devices by using this method. Based on Triple-Power, a 12-bar 3-DOF forward shovel excavator made by Terex Company in USA, based on the kinematic chain topology database, all the planar single-hinged 12-bar 3-DOF kinematic chain topologies are synthesized. Through the establishment of "322 screening principle", "Motion chain conversion principle" and "forward shovel excavating device optimal selection principle", 15 new types of working devices suitable for forward shovel excavation are selected. In order to further analyze the performance of this kind of mechanism, it is necessary to analyze its kinematics first. According to the characteristics of multi-loop coupling, a general analysis method based on "minimum motion unit" is proposed. First, the forward shovel excavator is divided into the smallest moving unit, and then the kinematics analysis is carried out, and the analysis process is programmed into a subroutine module. The kinematics analysis block diagram is established according to the geometric relationship between the loops of the forward shovel excavator. The kinematics analysis block diagram not only represents the minimum kinematic unit required for kinematics analysis of the mechanism, The transfer relationship between the input and output of the minimum moving units is also represented. Finally, the main program of kinematics analysis is compiled according to the transfer relation between the input and output of the minimum motion unit, which is represented by the block diagram of motion analysis, and the automatic kinematics analysis is realized. Based on MATLAB programming language, the automatic kinematics analysis software of forward shovel excavator is developed. The software can analyze the position forward solution, position inverse solution, workspace and velocity of the 15 kinds of forward shovel excavator. Jacobian and performance parameters are automatically analyzed.
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類號(hào)】：TD422.2

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本文編號(hào)：2018517