| 基于Matlab的挖掘机工作装置动力学方程 |
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| 引用本文： | 于国飞,宋文荣,许纯新.基于Matlab的挖掘机工作装置动力学方程[J].农业机械学报,2003,34(2):93-96. |
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| 作者姓名： | 于国飞 宋文荣 许纯新 |
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| 作者单位： | 1. 吉林大学机械科学与工程学院,130025,长春市
2. 中国科学院长春光学精密机械与物理研究所,130022,长春市 |
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| 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，为进一步研究自动控制和仿真问题奠定了基础。
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| 关 键 词： | 机械设计 液压挖掘机 工作装置 动力学方程 |
| 修稿时间： | 2002年1月11日 |
Constitution of Dynamic Equation for Robotized Working Device of Hydraulic Excavator Based on Matlab |
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| Yu Guofei,Xu Chunxin.Constitution of Dynamic Equation for Robotized Working Device of Hydraulic Excavator Based on Matlab[J].Transactions of the Chinese Society of Agricultural Machinery,2003,34(2):93-96. |
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| Authors: | Yu Guofei Xu Chunxin |
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| Abstract: | 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. |
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| Keywords: | Machine design Hydraulic excavator Working device Dynamic equation |
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