液压履带起重机工作装置的机器人动力学模型  

Robotic Dynamic Model on the Working Device of Hydraulic Crawler Crane

作　　者：王帮峰[1] 张国忠[2] 

机构地区：[1]南京航空航天大学机电工程学院,南京210016 [2]东北大学机械工程学院,沈阳110006

出　　处：《机械科学与技术》2001年第5期684-686,共3页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金资助 (编号 :5 9475 0 0 5 )

摘　　要：建立了液压履带起重机工作装置的机器人动力学模型 ,该模型能够反映起重机进行回转、变幅和起升作业时 ,工作装置和吊重的动态行为。采用机器人动力学方法推导出系统的动力学方程 ,并用数值方法加以求解。最后 ,利用计算机仿真的方法 。To obtain an accurate enough dynamic model for describing the behavior of the load and working devices of hydraulic crawler cr ane under different operation conditions, this paper sets up a synthetic multi- body dynamic model on the working devices. The robotic dynamics method was intro duced into developing the model. The working devices were equivalent to an open loop manipulator with five links including two virtual links. And the dynamic equations were recursively derived by Newton-Euler method. Also, the characterist ics of the hydraulic system of the working devices were considered. Finally, the dynamic behaviors of the load during slewing and elevating motion were respecti vely simulated through computer simulation. This model reflects the dynamic beha vior of the working devices and the load under the slewing, elevating and hoisti ng operations and its combination. Compared with the conventional method, the mo del is more accurate and convenient for solving by computer.

关 键 词：起重机 工作装置 吊重摆振 机器人运动学 计算机仿真 液压履带起重机 

分 类 号：TH213.7[机械工程—机械制造及自动化] TH113