船用挖掘机机械臂刚柔耦合动力学及特性研究

李发宗;童水光;王相兵;程晓民

振动与冲击 ›› 2014, Vol. 33 ›› Issue (20) : 157-163.

PDF(2016 KB)
PDF(2016 KB)
振动与冲击 ›› 2014, Vol. 33 ›› Issue (20) : 157-163.
论文

船用挖掘机机械臂刚柔耦合动力学及特性研究

  • 李发宗1,2,童水光1,王相兵1,程晓民2
作者信息 +

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

Author information +
文章历史 +

摘要

将船用挖掘机机械臂结构近似处理成带末端集中质量的柔性悬臂梁。考虑机械臂轴向变形,用拉格朗日定理建立机械臂刚柔耦合的动力学方程,用数值方法求解参数一阶固有频率灵敏度,获得机械臂振动固有频率及相关参数变化关系。应用NASTRAN、ADAMS等软件建立柔性臂架、柔性变幅绳、柔性抓斗提升钢丝绳、刚性支架、刚性回转平台的船用挖掘机虚拟样机模型。据该机械臂系统结构及工况特点进行动力学仿真分析,获得系统位移、速度、加速度等动态性能及连接点铰接力、机械臂的动态应力等特性。并对结果对比论证,为进一步研究机械臂工作稳定性及运动精度控制提供依据。

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.

关键词

船用挖掘机机械臂 / 拉格朗日定理 / 数值求解 / 动力学特性 / 刚柔耦合

Key words

marine excavator’s mechanical arm / lagrange theorem / numerical solution / dynamic characteristic / rigid-flexible coupling

引用本文

导出引用
李发宗;童水光;王相兵;程晓民. 船用挖掘机机械臂刚柔耦合动力学及特性研究[J]. 振动与冲击, 2014, 33(20): 157-163
LI Fa-zong;TONG Shui-guang;WANG Xiang-bing;CHENG Xiao-min. Research on rigid-flexible coupling dynamics and characteristics of marine excavator’s mechanical arm[J]. Journal of Vibration and Shock, 2014, 33(20): 157-163

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