Through analyzing the kinematics of the hydraulic manipulator operating system, according to the rules for seting up the D-H coordinate system, the generalized coordinate of the manipulator system is established. The ...Through analyzing the kinematics of the hydraulic manipulator operating system, according to the rules for seting up the D-H coordinate system, the generalized coordinate of the manipulator system is established. The rotating and moving joints are selected from the mechanism as joint variables. Each generalized transformation matrix of joints is worked out. The kinematics equation at the finger end of the manipulator is calculated. The obverse solution for the manipulator is gained. The geometrical operating parameters and primary technical specification of the manipulator system are simulated through the computer. The simulative result has shown that the manipulator operating system meets the working task requirements. This research provides theoretical basis for optimizing structural parameters of the manipulator operating. So it also is justified the feasibility for mechanical manipulators to be used in the engineering equipment platform of the hydraulic excavator.展开更多
北京工业大学流体传动与控制中心科研成果简介科研成果Scientific research achievements海水液压元件在高压细水雾灭火系统、高压水射流清洗、反渗透海水淡化系统、水下液压机械手及作业工具等领域已获得广泛应用。北京工业大学流体传...北京工业大学流体传动与控制中心科研成果简介科研成果Scientific research achievements海水液压元件在高压细水雾灭火系统、高压水射流清洗、反渗透海水淡化系统、水下液压机械手及作业工具等领域已获得广泛应用。北京工业大学流体传动与控制中心已研制出海水液压泵、海水液压控制阀(溢流阀、节流阀、换向阀等)、海水液压马达等全水润滑海水液压元件样机(如图1~图3所示),可根据需要进行系列化设计,满足不同工作压力和流量需求。展开更多
文摘Through analyzing the kinematics of the hydraulic manipulator operating system, according to the rules for seting up the D-H coordinate system, the generalized coordinate of the manipulator system is established. The rotating and moving joints are selected from the mechanism as joint variables. Each generalized transformation matrix of joints is worked out. The kinematics equation at the finger end of the manipulator is calculated. The obverse solution for the manipulator is gained. The geometrical operating parameters and primary technical specification of the manipulator system are simulated through the computer. The simulative result has shown that the manipulator operating system meets the working task requirements. This research provides theoretical basis for optimizing structural parameters of the manipulator operating. So it also is justified the feasibility for mechanical manipulators to be used in the engineering equipment platform of the hydraulic excavator.
文摘北京工业大学流体传动与控制中心科研成果简介科研成果Scientific research achievements海水液压元件在高压细水雾灭火系统、高压水射流清洗、反渗透海水淡化系统、水下液压机械手及作业工具等领域已获得广泛应用。北京工业大学流体传动与控制中心已研制出海水液压泵、海水液压控制阀(溢流阀、节流阀、换向阀等)、海水液压马达等全水润滑海水液压元件样机(如图1~图3所示),可根据需要进行系列化设计,满足不同工作压力和流量需求。
