基于Simpack的重载操作机刚柔耦合动力学分析  

FLEXIBLE MULTIBODY DYNAMICAL ANALYSIS OF THE HEAVY LOAD FORGING MANIPULATOR BASED ON SIMPACK

作　　者：韩雅楠[1] 李刚[1] 罗晓明[1] 

机构地区：[1]大连理工大学工程力学系,工业装备结构分析国家重点实验室,大连116023

出　　处：《动力学与控制学报》2010年第3期267-272,共6页Journal of Dynamics and Control

基　　金：国家973计划课题(2006CB705403);国家自然科学基金(10721062)资助~~

摘　　要：首先介绍了柔性物体进行动力学分析时连体基的选取原则,以保障物体的小变形效应.进而阐述了在连体基下弹性物体的主模态、约束模态,以此作为重载操作机刚柔耦合动力学分析的模态基底.由Jourdain虚功率原理,详细推导了刚柔耦合动力学分析虚功率方程,并且得到多体动力学分析的微分控制方程.另外,本文由流量守恒定律以及伯努利方程推导出液压等效的非线性刚度.最后,基于Simpack软件,分析了操作机提升运动和锻造作业两种典型工况.The strategy for choosing the reference frame of a flexible body was introduced firstly, which should obey the small strain terms. Furthermore, a group of normal modes and constraint modes were described under the body reference frame. Then, the multibody dynamical differential equation was deduced using the principle of Jourdain virtual power. In addition, we induced the equivalent nonlinear stiffness of the hydraulic cushion based on Comment Water Convervation Law and Bernoulli equation. Finally, the lifting and forging working were carried out by numerical examples based on Simpack.

关 键 词：重载操作机 柔性动力学 模态集 液压刚度 

分 类 号：O313.7[理学—一般力学与力学基础]