Kinematics Analysis and Trajectory Planning of Backhoe Hydraulic Excavator
Based on a certain type of backhoe hydraulic excavator as the research object,using screw theory to the degree of free-dom analysis of excavator,excavator for the parametric modeling,and based on screw theory,the differential and the location equation direct derivation of the three methods of excavator,analyzed the speed acceleration and solving speed acceleration calcu-lation example is given,and finally solving the excavator working space;in the actual working process of the excavator,due to the complexity of the soil environment,in order to ensure the stable and continuous work of the excavator,an obstacle free optimal time trajectory planning based on particle swarm optimization algorithm was proposed under certain kinematics constraints.The Adams simulation experiment of excavator is carried out,and the numerical trajectory planning in Matlab is simulated.The re-sults prove that the trajectory planning in Matlab is correct.This paper provides a reference for the design of the backhoe hydraulic excavator,and the optimal time polynomial interpolation program is proposed to save the working time while avoiding obstacles,so that the excavator can work more efficiently and stably.
万方数据
维普
