Characteristics Analysis And Optimization Of Three-arms Excavating Device

Mining equipment is one of the important operation device of military engineering machinery, mainly including traditional bending mining device and telescopic arm mining device. The traditional bending mining device has the advantages of good mining performance and wide operation range, but it is is not convenient to overall arrangement and its big structure size is big; Telescopic arm mining devices has the advantages of compact structure, convenient arrangement and good protection, but the mining operation range is relatively narrow. While the three-arms mining device has wide operation range, good mining performance, and overcomes the difficult arrangement problem. This thesis deeply studies the three-arms mining device, and carries out relevant researches, like kinematics analysis, mathematical modeling and optimization design.This thesis describes the development of excavator and application of the three-arms mining device at home and abroad. And the typical situations of mining equipment are analyzed; the mining device performance requirements and design principles are summarized. According to the design principle, the three-arms mining device is designed, by changing the integrated arm of a existing traditional bending mining device into articulated arm. The mining performance before and after the modification remains unchanged. With Denavit-Hatenberg homogeneous transform matrix,the kinematics model of the three-arms mining device is constructed and the functions of all revolving joints based on the basal reference frame are established to optimize the design of three-arms excavating device.According to the characteristics of the three-arms mining device, the optimization model of the proportion when the bucket arm active force is made full use in the main excavating area is established. Furthermore, the distribution of the excavating force in the excavating area is obtained. And by drawing the mining map, the three-arms mining device before and after optimization is compared. In this thesis, characteristic analysis and optimization design of the three-arms mining device is carried out. And technical support is provided for the development of related equipment.