Research on rigid-flexible coupling dynamics and characteristics of marine excavator’s mechanical arm

LI Fa-zong;TONG Shui-guang;WANG Xiang-bing;CHENG Xiao-min

Journal of Vibration and Shock ›› 2014, Vol. 33 ›› Issue (20) : 157-163.

PDF(2016 KB)
PDF(2016 KB)
Journal of Vibration and Shock ›› 2014, Vol. 33 ›› Issue (20) : 157-163.
论文

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 +
History +

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.

Key words

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

Cite this article

Download Citations
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
PDF(2016 KB)

615

Accesses

0

Citation

Detail

Sections
Recommended

/