摘要
为使混凝土泵车臂架系统的计算机仿真模型更好地体现实际情况,根据机器人运动学理论和拉格朗日方程,通过递推形式确定了混凝土泵车柔性臂架系统的动力学方程,并运用计算机联合仿真技术对混凝土泵车臂架系统进行柔性仿真,同时优化了臂架系统上的驱动力,结果显示不断改变铰点位置能明显降低变幅机构中油缸的最大受力数值.仿真结果表明,柔性臂架模型更符合实际情况,为混凝土泵车臂架改进设计和机器人化提供了理论依据.
Combining with the theories of robotics and Lagrange^s equation, a dynamical function for flexible boom of concrete pump truck is established by the recurrence methods in order to make the computer model better reflect the actual situation. Based on the dynamical function, the rigid and flexible model of concrete pump truck is built and simulated through the joint application of ANSYS and ADAMS. Using the rigid and flexible mode of boom system, the cylinder stress of lulling mechanism are studied by using optimization module after verifying the accuracy of dynamic model. It is found from the simulation results that the rigid and flexible model provides a theoretical basis for truck improvement and robotizing.
出处
《扬州大学学报（自然科学版）》
CAS
北大核心
2015年第1期61-64,共4页
Journal of Yangzhou University：Natural Science Edition
基金
国家科技部火炬计划资助项目(2012GH530716)
关键词
混凝土泵车
臂架系统
动力学仿真
刚柔耦合
油缸驱动力
concrete pump truck
boom system
dynamics simulationl rigid and flexible
cylinder stress
作者简介
联系人，E-mail：lhchina@163．com
