某中型履带式挖掘机越障动力学建模与分析  

Obstacle Crossing Dynamic Modeling and Analysis of a Mid-size Crawler Excavator

作　　者：秦仙蓉[1] 赵书振 沈健花 张氢[1] 孙远韬[1] QIN Xianrong;ZHAO Shuzhen;SHEN Jianhua;ZHANG Qing;SUN Yuantao(School of Mechanical and Energy Engineering,Tongji University,Shanghai 201804,China;HP Information Technology Development Co.Ltd.,Shanghai 200131,China)

机构地区：[1]同济大学机械与能源工程学院,上海201804 [2]惠普信息技术研发有限公司,上海200131

出　　处：《噪声与振动控制》2018年第6期1-6,共6页Noise and Vibration Control

基　　金：国家自然科学基金资助项目(51205292)

摘　　要：建立履带式挖掘机的11自由度简化力学模型,利用拉格朗日法进行数学建模。确定挖掘机越障过程中所受到的激励,求解系统在不同激励输入形式下的动态响应。结合虚拟样机技术,完成履带式挖掘机在只有路面障碍激励下的虚拟样机动力学仿真,将简化力学模型数值求解结果与虚拟样机动力学仿真结果相互对比。结果表明:两种分析方法得到的动力学响应结果均符合预期分析;两种方法分析结果基本吻合,实现了两种模型的相互校验,说明所提出的动力学建模与分析方法的正确性,可为履带式挖掘机越障动态特性研究提供借鉴与参考。An 11-DOF simplified mechanical model of a crawler excavator is established based on Lagrange principle. The excitations of the crawler excavator during obstacle crossing process axe determined and the dynamic responses of the system under different excitations are obtained. Combined with virtual prototype technology, the dynamic simulation which solves the dynamics response of the 3D model under the road obstacle inputs is carried out by ADAMS. The results of these two methods coincide with each other and accord with expectations. Therefore, the proposed dynamic analysis method is feasible and it can provide a reference for the research of dynamic characteristics of the crawler excavator when it crosses obstacles.

关 键 词：振动与波 履带式挖掘机 越障动力学 简化力学模型 瞬态响应分析 虚拟样机 

分 类 号：TH113[机械工程—机械设计及理论]