Research on rigid-flexible coupling dynamics and characteristics of marine excavator’s mechanical arm
LI Fa-zong1,2，TONG Shui-guang1，WANG Xiang-bing1，CHENG Xiao-min2
1. Department of Energy Engineering ,Zhejiang University, Hangzhou 310027,China； 2. Mechanics Institute , Ningbo University of Technology, Ningbo 315016, China
Abstract：Structure of marine excavator’s mechanical armwasapproximatedasa flexible cantilever beamwith tip mass.Lagrange theorem is used toestablishrigid-flexiblecouplingdynamic equations of mechanical arm, sensitivity of the first natural frequency for the geometric parameters related is calculated by applying the numerical solution method,the change relations between vibration natural frequency and associated parameters for the mechanical armwere gotten.the rigid-flexible coupling model of hydraulic excavator’s mechanical arm is established and simulated by the simulation software ADAMS and NASTRAN ,thevirtual prototype model of marine excavator with flexible boom,flexible luffing rope,flexiblegraphoisting rope,rigidframe,rigid rotation platform.The dynamics simulation is conducted based onthe structure and working condition characteristics ofthe marine excavator’s mechanical arm system,the system displacement, velocity, acceleration,aswell as the hinged connection force points and the dynamic stress ofmechanical arm etc.The research resultswas is demonstrated by contrasting, and the basis from the research results is provided for the further researchon the job stabilityand motion error control of mechanical arm.
2014, Vol. 33 
