新型可控电铲挖掘机构运动学和动态静力学的研究.pdfVIP

ResearchonKinematicsandKineto-staticofaNovelType ElectricShovelwithControllableMiningMechanism ABSTRACT Electric shovel is an essential equipment in open-pit mining. It is mainly used to strip the covering of the mineral and to load the blasted ores. Market development space is very broad. But the product of existing excavator have muchweakness:Althoughthetraditional electricshovelhavemany advantages of high work efficiency, long life and adapt to the harsh mine environment, it has complex structureandclumsy ofmining action.Although hydraulic shovel have flexible motion and hydraulic components with high accuracy, its maintenance costisbig andlifeis short. Soit ismeaningfultouse themodern theoryandmethodtostudyminingmechanismwithinnovationresearch. Multi degreeoffreedomcontrollablemechanismbecomesagoodmedium with traditional mechanism and modern robots mechanism in cost and performance. It combines the traditional mechanism with high velocity, high bearingcapacity,highefficiencyandrobotmechanismwithhighflexibility,high accuracy in theory andprovide anew thought formodern mechanical creative design. Multi degree of freedom controllable mechanism applied to mining mechanism of electric shovel in this paper. Not only m lti degree of freedom controllablemechanismmakeskinematics output flexibility,but alsocompletes III allkinds ofmotion with avoidtraditional hydraulic shovelcomponent in short lifeandlowreliability.Thismainworkofthedissertationcanbeconcludedas: (1)The paper introduced the structural characteristics of new controllable mining mechanism of electric shovel and calculated the degree of freedom dependonthetheoryofscrew.Whilethekinematicmodelcanbeestablishedby themethod ofclose-loopvector.Basedonit,we couldcalculatethe locationof mechanism,forwardsolution,inversesolutionandverifythesimulation. (2)According to the constrain