关键词: 三节臂挖掘机, 运动规划, 粒子群优化算法, 平整工况

Abstract: Aiming at the problems of limited operating capacity and excavation trajectory planning of ordinary boom excavators in the market, the operating range of the excavator under leveling condition is compared and analyzed taking the three section backhoe hydraulic excavator as the research object, and a motion planning method of the excavator under leveling condition is proposed, with the shortest excavation time as the goal. First of all, the working range of the three section excavator and the ordinary boom excavator under the leveling condition is simulated by MATLAB with the range of the rotation angle of each component of the working device as the boundary condition; Secondly, the solved operation range is divided into five sections, and with the shortest excavation time as the goal, the particle swarm optimization (PSO) algorithm is used to optimize the interpolation time of each joint. The optimal time that meets the conditions and the position, speed and acceleration curves of each cylinder are obtained. The simulation results show that the flattening range of this type of excavator is 12.13% more than that of ordinary boom excavator, and each hydraulic cylinder moves smoothly and meets the requirements of system flow. The time optimal motion planning method of this model under leveling conditions can be applied to the motion planning of excavation trajectory under other conditions, and ultimately provides theoretical basis and technical support for fully automatic excavation, improving operation efficiency and quality.

Key words: threearm boom excavator, motion planning, particle swarm optimization algorithm, leveling condition