Kinematics analysis of novel multi-stage luffing mechanism of piling rig
In order to improve the stress condition of piling rig,a novel multi-stage luffing mechanism of piling rig was proposed.The mechanism could effectively reduce the bending moment of the front hydraulic cylinder and improve the stability of piling rig during operation.Firstly,the spatial coordinate system was established,and the forward and inverse solutions of the spatial position of the mechanism were analyzed,and then the velocity Jacobian matrix and acceleration Hessian matrix were derived,and the kinematics model of the mechanism was obtained.Secondly,after the mechanism parameters and the displacement function of the hydraulic cylinder were set according to the luffing conditions,the motion characteristics of the mechanism were analyzed using MATLAB software,the connection mode of the hydraulic cylinder contraction was determined,and the influence of the mechanism parameters on the luffing motion was further analyzed.Finally,the ADAMS simulation results of luffing motion of the mechanism were compared with the theoretical analysis results.The results showed that the kinematics model of the multi-stage luffing mechanism was correct.The mechanism could steadily luff the column from horizontal to vertical,the slider always moved upward during the luffing process,and the connecting rod after luffing was vertical to the front hydraulic cylinder.Accelerating contraction of the rear hydraulic cylinder while decelerating contraction of the front hydraulic cylinder was conducive to stable luffing.The research results can provide a reference for the dynamics analysis and optimal design of the novel multi-stage luffing mechanism of piling rig.
国家科技期刊平台
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