基于ADAMS的疏浚抓斗平挖运动学反解及动力学仿真

Kinematics and Dynamics Simulation on Flat Dredging of the Dredging Clamshell Based on ADAMS

针对抓斗挖泥船在疏浚工程中的普通挖掘造成海床不平整的现象,提出了疏浚抓斗平挖的问题。基于AD-AMS软件建立疏浚抓斗的三维模型,利用一般点驱动设定抓斗平挖时的运动轨迹,通过运动学反解得到钢丝绳的位移随时间变化曲线,通过动力学仿真得到抓斗平挖时钢丝绳的拉力随时间变化曲线。结果表明,反解得到的钢丝绳驱动函数可靠性高,并为平挖的控制策略提供了一定的参考,可以有效提高疏浚工程的质量。

According to the phenomenon of overdredging casuing bottom roughness in dredging engineering, the prob- lem of flat dredging is proposed. A dynamical model of dredging clamshell was built based on ADAMS, and a general point motion was added to the dredging clamshell to define the flat dredging path. By analyzing and solving kinematics e- quations in inverse, movement curves of the steel wire ropes were obtained. And the tension curves were acquired by dy- namics simulation. Research results show that the driving function of the steel wire ropes in reverse is reliable and effec- tive, it helps the flat dredging control scheme of clamshell dredger,and will improve the quailty of dredging engineering.