基于ADAMS的大型正铲液压挖掘机运动稳定性预测

Prediction of motion stability of large shovel hydraulic excavators based on ADAMS

为提高大型正铲液压挖掘机工作装置的可控性与稳定性,以某350 t大型正铲液压挖掘机工作装置为例展开研究。首先,介绍正铲液压挖掘机的基本构成,基于丹纳维特-哈滕伯格参数(D-H)法求解工作装置的运动学正解和反解,得到挖掘机工作装置各铰点坐标与动臂、斗杆、铲斗液压缸位移及转角变化函数;然后,利用软件Matlab验证位移及转角函数模型,并得出函数变化曲线;最后,利用SolidWorks和机械系统自动动态分析(ADAMS)软件建立350 t大型正铲液压挖掘机的虚拟样机,对工作装置的动臂缸、斗杆缸及铲斗缸进行运动学仿真,绘制出位移变化曲线,对比分析得到的仿真曲线与Matlab所求的函数模型曲线。结果表明:D-H法分析得到的动臂、斗杆、铲斗液压缸位移变化函数曲线与ADAMS仿真得到的仿真曲线基本一致,理论值与仿真值完成了互为准确性证明。

In order to improve the controllability and stability of the working device of a large shovel hydraulic excavator,the working device of a 350 t shovel hydraulic excavator was studied.Firstly,the basic structure of the shovel hydraulic excavator was introduced.Based on the D-H method,the forward and inverse kinematics solutions of the working device were solved,and the coordinates of each hinge point of the excavator working device and the displacement and angle change functions of the boom,bucket rod,and bucket cylinders were obtained.Then,the software Matlab was used to verify the displacement and angle function model,and the function change curve was obtained.Finally,SolidWorks and ADAMS were used to establish a virtual prototype of a 350 t large shovel hydraulic excavator.The kinematics simulation of the boom cylinder,bucket rod cylinder,and bucket cylinder of the working device was carried out,and the displacement curve was drawn.The simulation curve obtained by comparative analysis was compared with the function model curve obtained by Matlab.The results show that the displacement function curves of the boom,bucket rod,and bucket cylinder obtained by the D-H method are basically consistent with the simulation curves obtained by ADAMS simulation.The accuracy of the theoretical value and the simulation value is proved.