基于ADAMS的自动化立体仓库巷道式堆垛机的动力学建模与仿真

DYNAMIC MODELING AND SIMULATION OF A LANEWAY STACKER CRANE IN AUTOMATIC STEREOSCOPIC WAREHOUSE USING ADAMS

利用ADAMS软件建立了考虑绳索和柔性梁的自动化立体仓库巷道式堆垛机的简化模型。其中,在绳索建模过程中,应用一系列相互作用的点质量来模拟实际绳索的动态特性,解决了ADAMS软件中绳索建模的问题。该模型可以按照指定的速度参数模拟堆垛机的运行情况,并提供运行过程中的各种力学和运动学参数。在此基础上,通过对该模型进行的大量动力学仿真,模拟了载物台沿特定的直线和曲线的合成运动轨迹运动时对堆垛机结构振动的影响。仿真分析结果表明,载物台沿直线合成运动轨迹运动时,可以使堆垛机运行达到效率较高和振动较小的综合效果。

A simple modeling method of a laneway stacker crane in automatic stereoscopic warehouse is introduced using ADAMS with ropes and flexible beams considered.A series of points with interactions are used to simulate dynamic characteristics of ropes.Thus the problem of modeling ropes is solved.This model can simulate the operating process of the stacker crane with specified velocity parameters and offer various mechanical and kinematic parameters during its operation.On this basis,the influences of different movement curves of the crane carrier on the structural vibration of the stacker crane are simulated with a large number of dynamic simulations.Their results indicate that the stacker crane works effectively with slight vibration when its carrier moves along a straight-line trajectory.