铲运机装载作业最小能耗轨迹研究

将铲运机装载作业部分处理成机械手模型系统，通过对装载过程中作用在机械手末端执行器－－铲斗切削边缘的作用力分析及轨迹分析，定义了最小能耗轨迹，通过运动学分析，找到了最小能耗轨迹。铲斗跟随上轨迹，系统消耗能量最小，生产效率更高。最小能耗轨迹对铲运机总体参数设计、工作装置设计、轨迹规划及操作控制方法确定等具有重要的理论和实际意义。

STUDY ON THE TRAJECTORY OF MINIM ENERGY CONSUMPTION IN THE SCOOPING OPERATION OF A LHD

In this paper, the LHD working unit is processed as a robot manipulator, then the minim energy consumption trajectory is defined by the help of the analysis of the forces acted on the tip of the bucket when scooping operation, and the trajectory is found out through the kinematics analysis. If the trajectory is followed by the bucket, the LHD system can only consume minim energy and get higher efficiency in the same time. The research of the minim energy consumption trajectory is important both theoretically and practically to the total parameter and working unit designing as well as the trajectory planning and the control method of operations of a LHD.