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    伸缩臂挖掘装置的优化设计
    三节臂挖掘装置由上动臂、下动臂、斗杆和挖斗及其驱动油缸组成,该挖掘装置具有 4 个自由度。相对于传统折弯式挖掘装置,三节臂挖掘装置上、下动臂间夹角可通过驱动油缸调节,从而增大了挖掘范围,降低了布置的重心,提高了机械的工作性能。挖掘装置在作业空间里的力学特性及挖掘?#35745;祝?#20915;定了挖掘装置在复杂环境下的作业性能,对三节臂挖掘装置的设计具有重要意义。

    挖掘装置的齐次变换矩阵,描述挖掘装置的上动臂、下动臂、斗杆和挖斗相对于基坐标系中的空间几何关系;利用其几何关系,建立三节臂挖掘装置在各驱动油缸作用下挖掘装置的优化分析模型,并得到优化前后挖掘力分布特性的对比。

    伸缩臂挖掘装置的优化设计


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