The Modeling and Calculation of the Heading Machine Based on Differential Geometry

[摘要] The kinematic sketch of the heading machine’s cutting part is plotted and the kinematic relation is analyzed. The pose-attitude model of the cutting part is derived from the geometry method, and the velocity and acceleration relations are derived by the differential geometry method. According to the recurrence relation among the pose-attitude, the velocities and the accelerations, the numerical solving strategy is designed. The nonlinear part of the kinematics model is solved by the Newton iterative method. The kinematics model is simulated by MATLAB. The trigonometric functions are avoided by using the differential geometry method, and the derivation process and the results are simplified simultaneously. The simulation results give the curves of each kinematic parameter which verifies the validity of the kinematic model.

[学科分类] 计算数学

[关键词] the heading machine;spatial differential geometry;spatial mechanism;nonlinear;Newton iterative