Kinematic Analysis of Hydraulic Excavator Working Device Based on D-H Method

Abstract

To accurately describe the problem of excavator bucket teeth space trajectory in the mining process, is presented to describe the trajectory of excavator bucket teeth using D-H homogeneous coordinate method. Based on the principle of robotics, the excavator boom arm and bucket as three robot manipulators, through the driving of the boom cylinder and the arm cylinder and bucket cylinder, establish mathematical model of excavator working device pose space, using MATLAB/Simulink simulation to analyze the spatial motion, and fast get excavator mining envelope graph. The ZE-360 hydraulic excavator as an example, verify the scientific D-H homogeneous coordinate method in spatial motion analysis of excavator working device and adaptability, and provide a theoretical basis for the excavator trajectory and work space analysis.