基于ADAMS的履带式挖掘机越障动力学建模与分析  

Dynamic modeling and analysis of obstacle-crossing of crawler excavator based on Adams

作　　者：秦仙蓉[1] 冯亚磊 沈健花 张氢[1] 孙远韬[1] Qin Xianrong;Feng Yalei;Shen Jianhua;Zhang Qing;Sun Yuantao

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：《起重运输机械》2023年第5期18-22,共5页Hoisting and Conveying Machinery

摘　　要：履带式挖掘机作业时需跨越各类障碍物,在履带式挖掘机跨越障碍物时会受到来自地面的冲击载荷而产生疲劳破环,故研究履带式挖掘机的整机越障动力学特性十分必要。基于动力学仿真软件ADAMS,研究了履带式挖掘机的整机越障动力学特性。以某中型履带式挖掘机为例,在Pro/E中完成履带式挖掘机的三维建模,在ADAMS中建立其简化虚拟样机,完成该履带式挖掘机越障的动力学仿真。结果表明:越障过程中,挖掘机车体垂向最大位移与障碍物设置高度一致,整个越障过程较为平稳。此外,车体的转动角速度在车体越过障碍边缘到引导轮触地时刻存在较明显的变化过程。In view of the fact that crawler excavators need to cross all kinds of obstacles during operation, and are easily subjected to impact load from the ground, resulting in fatigue damage, it is necessary to study the dynamic characteristics of the whole crawler excavator crossing obstacles. In this study, based on the dynamic simulation software Adams, the dynamic characteristics of the whole crawler excavator are studied. Taking a medium-sized crawler excavator as an example, the three-dimensional modeling of the crawler excavator is completed in ProE, and its simplified virtual prototype is established in Adams, and the dynamic simulation of the crawler excavator crossing obstacles is completed. The results show that the vertical maximum displacement of the excavator body is consistent with the height of the obstacle during the obstacle crossing, and the body is relatively stable during the whole obstacle crossing. In addition, the rotation angular velocity of the excavator changes obviously, which occurs during the period when the excavator travels to the edge of obstacle crossing and the guide wheel touches the ground.

关 键 词：履带式挖掘机 越障 动力学仿真 虚拟样机 

分 类 号：U446[建筑科学—桥梁与隧道工程]