露天液压钻车变幅机构运动学分析与工作空间研究
Kinematics Analysis and Work Space Research of Hydraulic Top-hammer Drill Luffing Mechanism

针对某型露天液压钻车对变幅机构进行了介绍，首先利用D-H法建立露天液压钻车变幅机构的坐标系，并采用齐次变换法，建立其运动学方程；选取变幅机构特定姿态，验证所得运动学方程的正确性；利用MATLAB进行编程计算，采用伪随机数法得到露天液压钻车变幅机构的可达工作空间、有效工作空间及有效工作范围的相关视图，并进行了三种工作空间的对比。全面系统的提出了露天液压钻车变幅机构运动学分析方法与相关工作空间的概念。
Based on the some hydraulic top-hammer drill, its luffing mechanism was introduced. The coordination was set with D-H method. With proper calculation and analysis, its kinematics equations were created, after which, those equations were verified by some specific position of the luffing mechanism. With MATLAB software, reachable space, effective space and effective working scale were got and compared with 3D-scatter-views. The analysis method of kinematicswas systematically advanced, which laid on the basis of the dynamics and motion control of hydraulic top-hammer drill luffing mechanism