摘要
根据机械手结构原理 ,将液压挖掘机工作装置机器人化。运用拉格朗日功能平衡法 ,结合 Matlab软件编程运算 ,构造了工作装置的动力学模型。输入已知参数即可由程序快速、准确地输出动力学方程 。
A working device of hydraulic excavator was robotized as its structure was similar to that of a robot manipulator. According to the dynamic principle, a dynamic model of the working device was established by the Lagrangian function and Matlab. A program was written with Turbo C, and once the known parameters are input, the dynamic equation will be output quickly and accurately. An example was counted by the program and the dynamic equation was output within 20 seconds.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2003年第2期93-96,共4页
Transactions of the Chinese Society for Agricultural Machinery
关键词
机械设计
液压挖掘机
工作装置
动力学方程
Machine design, Hydraulic excavator, Working device, Dynamic equation
