挖坑机执行机构的动力学分析及仿真研究

Dynamics Analysis and Simulation of the Earth Auger Actuator

采用多体建模的方法简洁地表达了该多体系统方程。运用拉格朗日方程和多体动力学建立了挖坑机动臂、斗杆及钻头的刚性运动微分方程。通过对运动微分方程的推导与求解,对动臂、斗杆及钻头的角速度和角加速度进行了分析。以6T小型挖坑机执行机构为研究对象,在三维建模软件Pro/E中建立了挖坑机几何模型,并导入动力学仿真软件ADAMS,进行了动力学仿真。采用角速度传感器测出了挖坑机空载状态下动臂与斗杆的角速度,仿真结果与试验误差在5%内,验证了模型的准确性。证明了采用多体动力学方法建立的挖坑机的运动方程可以描述挖坑机的各项动力学特性,提供了一种逆方式仿真验证模型的方法,可广泛应用于挖掘机执行机构。

Lagrange equation and multi-body dynamics were adopted to establish the rigid differential motion equations of the hole digger boom, dipper stick and drill. Through the derivation and solving differential e- quations, angular velocity and acceleration of the boom, stick and drill were analyzed. Taking the actuator of a small 6 T hole digger as the research object, the geometric models of executing agency were built in 3D modeling software Pro/E, and the dynamics simulation software ADAMS were imported to simulate its dynamic features. The angular velocity of stick and boom were measured by angular rate sensor. The sim- ulation results and experimental error were all within 5%, and the accuracy of the model was verified. The results demonstrated that the motion equation established by multi-body dynamics of the hole digger could describe the features of the dynamics of the digger. The method provided an inverse way of simulation test model, which can be widely applied in the actuator of the excavator.