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| Analysis of the movement track of the bucket edge of the underground LHD based on the forward and inverse kinematics equation |
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Received:November 13, 2020
Revised:November 18, 2020
Accepted:November 19, 2020
Published Online:August 18, 2021
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| DOI： |
| KeyWord:Underground LHD; multi-rigid Body Theory; Bucket Edge; kinematics equation |
| Author | Institution |
| Zhang Yuanqing |
BGRIMM Technology Group; BGRIMM machinery and automation technology Co., Ltd |
| Zhan Kai |
BGRIMM Technology Group |
| Guo Xin |
BGRIMM Technology Group; BGRIMM machinery and automation technology Co., Ltd |
| Gao Zeyu |
BGRIMM Technology Group; BGRIMM machinery and automation technology Co., Ltd |
| Zhao Xiaoyan |
BGRIMM Technology Group; BGRIMM machinery and automation technology Co., Ltd |
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| Abstract: |
| Based on the kinematics of multi-rigid Body, the kinematics equations of forward-rotating six-bar linkage mechanism are established , and the mathematical models of velocity and acceleration of working device based on Matrix also is derived . On this basis,the mathematical relationship between the bucket tip and the stroke of the two cylinders is determined. At the same time, the relationship between the position of the bucket edge and the stroke of the boom cylinder and the bucket cylinder is further verified. It provides the mathematical basis for the design of shovel loading curve and lays the foundation for its kinematics simulation analysis. |
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