The inverse kinematics analysis and simulation study on the controllable loading mechanism

Abstract

The multi-DOF controllable loading mechanism adopts the electric drive system to replace the hydraulic drive system of traditional loader, not only has higher transmission efficiency and has better mechanical and electrical integration level, but also overcome the shortcomings of high cost of manufacture and maintenance.The inverse kinematics model of this type of loading mechanism was built by means of closed loop vector method. According to the performance index of the loading mechanism, the inverse kinematics model was solved by means of MATLAB software, and the input motion law of the two driving lever at different period of time is obtained, and a small prototype is built, which provides the basis for control system programming of this new type of leading mechanism. To some extent, this research lays a foundation for further development of this type of loading mechanism.