关键词: 倾斜提升；连杆机构；运动学；建模与仿真

Abstract:

To study the characteristics of tilting and lifting frame’s motion, perfectly make motion planning and realize the intelligent control of hydraulic cylinders, a mathematics model of 7-linkage complicated plane mechanism was built. In order to simplify the problem of intelligent control of hydraulic cylinders the solutions of lifting and tilting of frame were resolved respectively. At first the mathematic model between revolving angle θ of frame and displacement of two hydraulic cylinders was established by two 4-linkage mechanisms, successively on the premise of θ=0 the mathematics model between lifting height Δh of frame and displacement of two hydraulic cylinders was also set up. Later the two mathematics models were figured out by combining with design parameters and using numerical computation method. At last the established mathematics models were proved to be true by comparing the computation result with the result of kinematics simulation.

Key words: tilting and lifting;linkage mechanism;kinematics;modeling and simulation