CAJ | 학술논문

为给装载机的铲掘作业寻找一条能耗较小的铲掘轨迹,根据经验及有关文献给出的较理想的直线和曲线两种铲掘作业的轨迹方程,经过对装载机铲掘作业的轨迹规划及运动学建模,实现铲掘轨迹由直角坐标空间向关节空间转换以及由关节空间向驱动空间转换,得到动臂油缸和转斗油缸的驱动方程,并给出铲斗在实现铲掘轨迹的过程中所受的作用力.对在ADAMS环境下ZL40装载机仿真模型进行仿真,结果表明,装载机在同样时间内完成同样的作业量下,直线铲掘轨迹所作的总功小于曲线铲掘轨迹.
위급장재궤적산굴작업심조일조능모교소적산굴궤적,근거경험급유관문헌급출적교이상적직선화곡선량충산굴작업적궤적방정,경과대장재궤산굴작업적궤적규화급운동학건모,실현산굴궤적유직각좌표공간향관절공간전환이급유관절공간향구동공간전환,득도동비유항화전두유항적구동방정,병급출산두재실현산굴궤적적과정중소수적작용력.대재ADAMS배경하ZL40장재궤방진모형진행방진,결과표명,장재궤재동양시간내완성동양적작업량하,직선산굴궤적소작적총공소우곡선산굴궤적.
To seek a track which consumes less energy for a wheel loader in a digging process, the track equations of two kinds of ideal tracks, a beeline and a curve, are given according to experience and relevant literature. The tracks are transformed from fight-angle-space coordinate to joint-space coordinate, and from joint-space coordinate to drive space through track planning and kinematics modeling for the type of ZL40 wheel loader in a digging process. The drive equations of the lift cylinder and tilt cylinder are obtained. The force acting on the bucket in a digging process is given. A simulation for the ZL40 wheel loader model is presented in ADAMS software. The simulation result shows that the beeline track consumes less energy than the curve track does while the same load is completed in the same time.