全地面起重机塔臂工况吊重摆振特性研究

Hoisting and shimmy properties for tower jib operations of all-terrain cranes

为了提高全地面起重机塔臂工况吊装定位精度及作业效率,有必要对回转运动中吊重摆振特性进行研究.基于机器人动力学理论,将全地面起重机等效成串联开链机器人系统,运用牛顿-欧拉正向递推公式,建立吊重摆振动力学方程,对吊重摆振特性进行计算机仿真.研究结果表明回转过程产生的惯性力和离心力导致吊重在空间产生复杂的振动,启动加速时间、吊重绳长及工作幅度对吊重偏摆角大小有重要影响.所得结论可为全地面起重机结构设计提供参考.

To improve the positioning precision and operational efficiency for tower jib hoisting of allterrain cranes, it is necessary to study the rotationally-hoisting and-shimmy properties. Based on the robotic dynamics, the all-terrain cranes is equivalently treated as a series-connected and open-chained robotic system. By applying the Newton-Euler positive forward iterative formula, the hoisting and shimmy dynamical equation is established for property simulation. Therein,it is found from simulation results that the spatially-complicated hoisting vibrations are produced by the inertia and centrifugal forces during rotary process. In addition, the deflected oscillation hoisting angle is significantly impacted by the start and acceleration time, the hoisting cable length and working range. Therefore, the conclusions can provide a reference to the structural design for all-terrain cranes.