Research On Kinematics And Kineto-static Of A Novel Type Electric Shovel With Controllable Mining Mechanism

Electric shovel is an essential equipment in open-pit mining. It is mainly used to strip the covering of the mineral and to load the blasted ores. Market development space is very broad. But the product of existing excavator have much weakness:Although the traditional electric shovel have many advantages of high work efficiency, long life and adapt to the harsh mine environment, it has complex structure and clumsy of mining action. Although hydraulic shovel have flexible motion and hydraulic components with high accuracy, its maintenance cost is big and life is short. So it is meaningful to use the modern theory and method to study mining mechanism with innovation research.Multi degree of freedom controllable mechanism becomes a good medium with traditional mechanism and modern robots mechanism in cost and performance. It combines the traditional mechanism with high velocity, high bearing capacity, high efficiency and robot mechanism with high flexibility, high accuracy in theory and provide a new thought for modern mechanical creative design. Multi degree of freedom controllable mechanism applied to mining mechanism of electric shovel in this paper. Not only multi degree of freedom controllable mechanism makes kinematics output flexibility, but also completes all kinds of motion with avoid traditional hydraulic shovel component in short life and low reliability. This main work of the dissertation can be concluded as:(1)The paper introduced the structural characteristics of new controllable mining mechanism of electric shovel and calculated the degree of freedom depend on the theory of screw. While the kinematic model can be established by the method of close-loop vector. Based on it, we could calculate the location of mechanism, forward solution, inverse solution and verify the simulation.(2)According to the constraint condition of limit of the workspace and implicit function existence theorem, the workspace will be solved and described. Then, we used Jacobian matrix analysis the singularity of mechanism.(3)Based on the new three degrees of freedom of parallel mechanism with kinematic analyze, maked the instantaneous force system convert to static system and established dynamic model of statics, which provided the foundation of dynamic simulation.(4)After the virtual of three-dimensional entity model is established with software of Pro/E, we imported it into the software of ADAMS to complete kinematics and kineto-static simulation. Then we verified the feasibility of mechanism and rationality of geometric model.