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:2006203217:(20031057):(1965-),,,281Vol.28120072JOURNALOFTAIYUANUNIVERSITYOFSCIENCEANDTECHNOLOGYFeb.2007:167322057(2007)01-0032-051,2,3,1(1.,030024;2.,100081;3.,312000):,,,:;;:TU621:A,,,,[1],,,,,,,:(1),;(2),,;(3),,,VB,1[1],,:1.;2.;3.;4.;5.;6.;7.;8.;9.;10.8910,,6(,2),6,,,,,,1,ABCDEFGHMKQ,V,IJ(),G1G10,G11,r,FW,,,,FWrQV,11Fig.1Thesketchofforces1,,,,,6:(a):FW1=l3(11i=3rCGiyGi-MCB)rCVyrQVyrCVzrQVz(1):l3=|rQV|QV,;rCGiyCy;MCBC,:,MCB=n14(D21PB+(D21-d21)PH)lCBsin(ABC),MCB=-n14((D21-d21)PB+D21PH)lCBsin(ABC)n1D1d1PBPH,ABCABC,(b):FW2=l3(11i=5rFGiyGi-MFS)rFVyrQVy+rFVzrQVz(2):rFGiyFyMFSF,:,MFS=-n24(D22PS+(D22-d22)PH)lDFsin(EDF),MFS=n24((D22-d22)PS+D22PH)lDFsin(EDF),n2D2d2PSPH,EDFEDF,(c):FW3=11i=9rQGiyGi-MQDrQVycos(1+2+3)+rQVzsin(1+2+3)(3):rQGiyQyMQDQ,MQD:MQD=-n3lGNsin(MGN)lQKsin(HKQ)4lNHsin(KHN)(D23P0+(D23-d23)PH)n3D3d3P0;1231,,,,;33281,:MGHHQKKHNMGNHQKKHN,(d)FW4=l311i=1rIGiyGirIVyrQVy+rIVzrQVz(4):rIGiyIy(e)FW5=l311i=1rJGiyGirJVyrQVy+rJVzrQVz(5):rJGiyJy(f)FW6=l3G0rQVyrQV3(rQVy-rQv30)FW6=(rQVy-rQv3=0)(6):,G0rQV30,rQV30,6,FW=min{FW1,FW2,FW3,FW4,FW5,FW6}(7),,,,,F,,rFV;2minf(X)=min1FWs.t.g1(X)=x1-x1min;g2(X)=x1max-x1g3(X)=x2-x2min;g4(X)=x2max-x2g5(X)=x3-x3min;g6(X)=x3max-x3(8)(8),;X=[x1,x2,x3]T,x1=lABx2=lDEx3=lGM,6,,,,,3,,,,4,,,232[1],3,22Fig.2TheoperatingcasesbythetraditionalmethodFw()Fx(YZ)(),FwFx,,x43200723,,1,,3;2,;3,3,1233Fig.3Theoperatingcasesbyoptimizingmethod3,a(),Fw=207.76KN,Fx=-110.32KN,;b(),Fw=278.38KN,Fx=0.75KN,;c(),Fw=189.18KN,Fx=-7.18KN,,233c,,3cDBAC=59.02DDEF=88.35,,,,,3ab,(),;,,,,,5,,;,,,,;,,,,,,,,:[1].[M].:,1986,2072213.[2].()[M].:,1983.[3],..[J].2000,21(1),13217.[4].[M].:,1994,1432154.[5],..[J].2004,(5):32235.53281,:TheConfirmationoftheTheoreticalMaximalDiggingForceofExcavatorSHIQing2lu1,2,LIANJin2yi3,LINMu2yi1(1.TaiyuanScienceandTechnologyUniversity,Taiyuan030024,China;2.BeijingInstituteofTechnology,Beijng100081,China;3.ShaoxingCollegeofArtsandScience,ZhejiangShaoxing312000,China)Abstract:Itisdifficulttomakesurethepositionandtheoperatingcasesofthemaximumdiggingforcebymeansofthetraditionalmethods,whichbelongstoanuncertainfactorandalatentaffectionfactorstothestructuralintensityofworkingdevicesandthereliabilityofwholemachine.Inthispaper,thecalculatingformulasofthetheoreticaldiggingforceofarbitraryoperationalcaseandposehasbeenderivedbythevectormethod,andthenewideainde2terminingitandtheposeofexcavatorbasedonoptimizingmethodhavebeenbroughtforward.Bymeansofanalysisandcalculationofactualexample,itsfeasibilityhasbeenproved,whichhasprovidedthetheoreticalfoundationandnewcalculatingmethodforanalyzingthediggingforcesandthecorrespondingposes.Keywords:excavator,themaximaltheoreticaldiggingforce,optimizingmethod:2006202221:(1979-),,,()281Vol.28120072JOURNALOFTAIYUANUNIVERSITYOFSCIENCEANDTECHNOLOGYFeb.2007:167322057(2007)01-0036-06,,(,030024):,,;,;,:;;;;:U415:A,[1],