矿用挖装机挖掘臂运动学建模及动力学仿真
Kinematic Modeling and Dynamic Simulation of Digging Arm of Mining Excavator
宋艳亮1
作者信息
- 1. 北京天玛智控科技股份有限公司,北京 101399
- 折叠
摘要
针对矿用挖装机挖掘臂的运动学建模和动力学仿真问题,首先采用D-H法建立挖掘臂的坐标系,推导出挖掘臂的正运动学方程;然后基于SolidWorks建立挖掘臂的三维模型并将其导入ADAMS,设定驱动关节的驱动函数后对挖掘臂进行仿真,得到各关节的合力和力矩随时间变化的曲线.仿真结果表明:关节1 受到的力矩和合力均为最大值;各关节的力矩和合力受到其他关节的耦合作用,同时关节力矩随角加速度的变化而变化,仿真结果符合实际工况,为后续挖掘臂的结构优化奠定了基础.
Abstract
In view of the kinematic modeling and dynamic simulation of the digging arm of the mining excavator,firstly,the coordinate system of the digging arm was established by the D-H method,the positive kinematics equation of the digging arm was derived.Then 3D model of the digging arm was established based on the SolidWorks,and was introduced into the ADAMS.The driving function of the driving joint was set,and the digging arm was simulated to obtain a curve of the total force and the moment of each joint along with the time.The simulation results show that the moment and the resultant force of the joint 1 are the maximum values.The moment and the resultant force of each joint are affected by the coupling of other joints,meanwhile,the joint moment changes with the change of the angular acceleration,and the simulation result accords with the actual working condition which Lays the foundation for the subsequent structure optimization of the digging arm.
关键词
挖装机挖掘臂/运动学/动力学仿真/分析Key words
excavator digging arm/kinematics/dynamic simulation/analysis引用本文复制引用
出版年
2025
NETL
NSTL
万方数据