CAJ | 학술논문

提出并研究了一种3自由度的多连杆正铲挖掘机机构，并运用D-H法对该挖掘机构进行运动学数学建模，得到铲斗位姿的正反解，模拟动臂提升和水平推压工况，分别得到提升状态下铲斗姿态角变化情况和水平推压过程中3组液压缸长度的关系。最后基于运动学正解和奇异判断条件在MATLAB平台上实现该多连杆正铲挖掘机构包络图的自动绘制，结果显示其挖掘范围满足工作要求。本研究为该机构的优化设计、动力学分析和控制系统的设计提供了基础。
제출병연구료일충3자유도적다련간정산알굴궤궤구，병운용D-H법대해알굴궤구진행운동학수학건모，득도산두위자적정반해，모의동비제승화수평추압공황，분별득도제승상태하산두자태각변화정황화수평추압과정중3조액압항장도적관계。최후기우운동학정해화기이판단조건재MATLAB평태상실현해다련간정산알굴궤구포락도적자동회제，결과현시기알굴범위만족공작요구。본연구위해궤구적우화설계、동역학분석화공제계통적설계제공료기출。
A new multi-linkage face-shovel excavator of 3-DoF is proposed and the position kinematics model is established using existing D-H method in this paper. The variation of bucket angle and the length of 3 cylinders of this mechanism are demonstrated respectively by simulating calculation of forward and inverse positions of the boom-lifting and level excavation. Finally, the digging envelope is automatically formed based on forward position kinematics and singularity identification program in MATLAB. It is shown that the digging ranges and shape of the mechanism are reasonable. The study will provide the basis for the optimization de-sign, dynamics analysis and control system of this mechanism.