中文摘要：

基于图论相关理论对一种新型装载机工作装置进行了全面、系统的构型设计与研究。利用胚图插点法对九杆以内只含单铰转动副的平面闭环两自由度机构进行了构型综合,得到了51种拓扑图;根据可控装载机构拓扑结构要求、功能性要求、约束条件要求以及拓扑结构最简原则对得到的拓扑图进行了拓扑综合,共筛选出了22种满足构型要求的拓扑图;再根据提出的机架存在条件、铲斗存在条件、动臂存在条件对得到的所有拓扑图进行了特定化;最后提出可控装载机构优选原则,对拓扑图特定化方案进行优选和具体化,获得了11种可控装载机构。通过样机研制验证了构型设计的合理性。

英文摘要：

A comprehensive and systemic configuration design and reseaeh of a new type loader work equipment were completed based on graph theory and other related theory. Using the technique of embryo graph vertex insertion configuration synthesis was carried out on two-DOF plate closed-loop mechanism within 9 members and only one hinge revolute joint, and then 51 kinds of topology graphs were obtained. According to the controllable loading mechanism＇s requirements of structures, func- tions and constraints, and principles of minimalist topology, topological synthesis was realized on those 51 topology graphs. 22 kinds of topology graphs meeting the configuration requirements were found. Then according to proposed existence conditions of frame, bucket and boom all topology graphs were specialized. In the end, the optimization principle of loading mechanism was proposed, the scheme of specializing topology graphs were prefered. So 11 kinds of controllable loading mecha- nisms were obtained. Through developing a prototype based on one kind of those mechanisms, its working performance meets design requirements. This study provides a configuration basis for design and developing a new type controllable machinery loader.