基于柔性多体动力学的桥梁检测车臂架的运动仿真

The Simulation on the Movement of the Bridge Detection Vehicle Arm Based on the Flexible Multi-Body Dynamics

基于柔性多体动力学理论和拉格朗日方程建立了三节臂的桥梁检测车臂架的机械系统动力学模型。采用数值求解和结合动力学仿真分析软件,证明了柔性多体动力学方法建立的桥梁检测车臂架的运动微分方程,可以准确地描述桥梁检测车的各项动力学特性。通过对桥梁检测车臂架末端轨迹和驱动特性分析,表明了对于轻质长臂杆的桥梁检测车臂架系统必须考虑其柔性变形的影响。

The Automatic Dynamic model of the 3 - arm mechanical system of the bridge detection vehicle is made based on the theory of flexible multi - body dynamics and Lagrange equation. By the use of dynamic simulation software and numerical methods solution, we can prove that using the differential equations of the bridge detection vehicle arm through the method of flexible multi - body dynamics, the characters of the bridge detection vehicle can be exactly described. We can also see from the analysis of the terminal track of the bridge detection vehicle and the drive characteristics that it＇s very necessary to consider the flexible distortion when studying the system of the light and long arm bridge detection vehicle.