基于ADAMS的重载柱式旋臂起重机的动力学仿真分析  

Heavy Duty Column Slewing Crane Based on ADAMS Dynamic Simulation Analysis

作　　者：丁云鹏 朱学军[1] 霍志磊 孙绪强 DING Yunpeng;ZHU Xuejun;HUO Zhilei;SUN Xuqiang(School of Mechanical Engineering,Ningxia University,Yinchuan 750021,China)

机构地区：[1]宁夏大学机电工程学院

出　　处：《机械设计与研究》2019年第4期196-200,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(51765056)

摘　　要：针对重载柱式旋臂起重机的结构特点,利用Solidworks软件建立柱式旋臂起重机三维模型。采用D-H坐标系方法建立起重机系统的数学模型,并得出其运动学正、逆解。在ADAMS软件环境下对柱式旋臂起重机虚拟样机系统进行动力学仿真,从而获得起重机关键部件的运行动态特性与末端执行器Z轴方向位移特征曲线。对起重机关键部件在运行过程中的误差波动及形成原因进行了分析,验证虚拟样机模型设计的合理性。最后通过对起重机在典型工况下进行轨迹规划,实现了柱式旋臂起重机系统稳定控制的目的,并分析了柱式旋臂起重机关键部件的峰值力矩特征规律,验证了驱动电机功率参数选择的合理性。In allusion to the structural characteristics of heavy-duty column-type jib crane,a three-dimensional model of column-type jib crane is established by using Solidworks software. The mathematical model of heavy machinery system is established by D-H coordinate system method,and the forward and inverse kinematics solutions are obtained. In ADAMS software environment,the dynamic simulation of the virtual prototype system of the cylindrical jib crane is carried out,and the dynamic characteristics of the key components of the crane and the Z-axis displacement characteristic curve of the end-effector are obtained. The error fluctuation of crane key components during operation and its causes are analyzed,and the rationality of virtual prototype model design is verified. Finally, through trajectory planning of the crane under typical working conditions,the aim of stabilization control of the cylindrical jib crane system is realized,and the peak moment characteristics of the key components of the cylindrical jib crane are analyzed,which verifies the rationality of power parameter selection of the driving motor.

关 键 词：重载柱式旋臂起重机 ADAMS软件 动力学仿真 特征规律 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]