步行式挖掘机坡度横向行走稳定性分析

针对步行式挖掘机坡度横向行走时的稳定性问题,建立了包含底盘机构和作业装置多自由度系统的*步行式挖掘机静力学模型,并考虑了作业装置回转运动时附加惯性力矩,构造了步行式挖掘机横向行走时稳定性分析的多目标优化模型.利用效用函数法对多目标优化模型进行求解,对横向行走的最大坡度、底盘和作业装置的状态参数进行了优化分析.结果表明,该方法简单、可靠,为确定步行式挖掘机坡度横向行走时的步行机构状态参数和安全控制提供了理论依据.

Stability Analysis of Cross Direction Moving on the Sloping Ground for Walking Mobile Excavator

For the purpose of analyzing the stability of walking mobile excavator, which moving cross direction on the sloping ground, a static model including multi-degree system for working mechanism and chassis mechanism was described, and the additional inertia moment of working device during its rotating was also considered. A mathematical model of multi-objective optimization for the stability of walking mobile excavator was constructed. The utility function method was employed to solve the optimal model. The maximum degree of slope and state parameters of working mechanism and the chassis were optimized. The results showed that the proposed method has its merits, such as simple and reliable, and it could provide theoretical basis for confirming the cross direction moving parameters of the walking mobile excavators and safety controlling.