船用挖掘机机械臂刚柔耦合动力学及特性研究  

Rigid-flexible coupling dynamics and characteristics of marine excavator's mechanical arm

作　　者：李发宗[1,2] 童水光[1] 王相兵[1] 程晓民[2] 

机构地区：[1]浙江大学能源工程学系,杭州3100271 [2]宁波工程学院机械学院,浙江宁波315016

出　　处：《振动与冲击》2014年第20期157-163,共7页Journal of Vibration and Shock

基　　金：国家自然科学基金(51275251)

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其刚柔耦合的动力学方程,用数值方法求解相关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机械臂系统虚拟样机模型。结合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、加速度及连接点铰接力、机械臂的动态应力等动态性能。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。The structure of marine excavator’s mechanical arm was approximated as a flexible cantilever beam with tip mass.The lagrange theorem was used to establish rigid-flexible coupling dynamic equations of the mechanical arm. The sensitivity of the first natural frequency to the geometric parameters related was calculated and the relations between natural vibration frequency and associated parameters of the mechanical arm were provided.The rigid-flexible coupling model of hydraulic excavator’s mechanical arm was simulated by using the simulation software ADAMS and NASTRAN. Then,a virtual prototype model of marine excavator＆#39;s mechanical arm system with flexible boom,flexible luffing rope, flexible grapple hoisting rope,rigid frame,and rigid rotation platform was established.The dynamics simulations were conducted combined with the structure and working condition characteristics of the marine excavator’s mechanical arm system.The system displacement,velocity,acceleration,as well as the connection force at hinged points and the dynamic stress in mechanical arm etc were obtained.The research results were proved by contrast analysis,and the basis from the research results is beneficial to the further research on working stability and motion error control of mechanical arms.

关 键 词：船用挖掘机机械臂 刚柔耦合动力学方程 动力学方程 数值求解及仿真 动力学特性 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]