CAJ | 학술논문

研究了一种适合正铲挖掘的新型机构，分析了该机构自由度，得到该机构的自由度为3，即机构具有平面内的两个移动自由度和一个转动自由度，满足正铲挖掘机的作业要求。分析了该机构位置正解，及铲斗在3组不同的液压缸驱动尺寸下的位姿变化。最后分析了该机构位置反解，结果显示铲斗的姿态主要取决于动臂液压缸。此研究为该机构的应用奠定了理论基础。
연구료일충괄합정산알굴적신형궤구，분석료해궤구자유도，득도해궤구적자유도위3，즉궤구구유평면내적량개이동자유도화일개전동자유도，만족정산알굴궤적작업요구。분석료해궤구위치정해，급산두재3조불동적액압항구동척촌하적위자변화。최후분석료해궤구위치반해，결과현시산두적자태주요취결우동비액압항。차연구위해궤구적응용전정료이론기출。
In this paper, a new face-shovel excavator is studied, its the degree of freedom is gotten and proved that it includes two translations and one rotation in a plane, and meet the requirements of face-shovel excavator. The forward position kinematics are derived, and the changes of the position and orientation of the shovel are analyzed when three group of different lengths of the hy-draulic cylinders are given. Finally inverse position kinematics are solved, which show that the orientation of the shovel is depended on the hydraulic cylinder of the boom. The study will lay the foundation for the application of this mechanism.