机械式挖掘机动臂、斗杆和铲斗组成的工作装置酷似机械手(图1)。作运动学分析时,要从挖掘机结构出发,抽象出由关节和杆件组成的操作机,确定各关节和杆件的几何参数,进而在各个关节上定义合适的坐标系。在此基础上,确定各杆件的齐次变换矩阵。运动学分析要解决的问题是,在已知各杆件变量时,确定末端执行器及各杆件相对于基本坐标系的位形,反之同理。 The working device consisting of a mechanical excavator boom, stick, and bucket resembles a manipulator (Figure 1). For kinematics analysis, starting from the structure of the excavator, an operating machine composed of joints and rods is abstracted to determine the geometric parameters of each joint and rod, and then a suitable coordinate system is defined on each joint. On this basis, the homogeneous transformation matrix of each member is determined. The problem to be solved in kinematics analysis is to determine the position of the end effector and each rod relative to the basic coordinate system when each member variable is known, and vice versa.