软质管线收卷机头展收机构的动力学研究

Research on Dynamics of Rolling Hose Head Deployable Mechanism

基于达朗贝尔原理结合牛顿欧拉法和有限单元的方法建立机头展收机构的动力学模型,牛顿欧拉法为刚体力学模型,有限单元法属于弹性体力学模型,牛顿欧拉法计算的轴力最大值为137 k N,而有限单元法的轴力极值达到720 k N。计算结果表明:有限单元法计算的液压变幅构件轴力曲线变化平稳,但计算量较大;牛顿欧拉法计算量小,但容易产生轴力曲线波动失真现象。牛顿欧拉法和有限单元法在机构设计前期为确定液压变幅构件的轴力提供科学凭据,有助于设计出性能优越的机头展收机构液压装置。

Based on the D＇Alembert principle combined with Newton-Euler method and finite element method （FEM） were used in modelling of mechanical dynamics of the rolling hose head deployable mechanism. The FEM model was elastic mechanics model. On the contrary, Newton-Euler method was rigid model. The maximum axial force calculated by Newton-Euler method was 137 kN, while the maximum axial force calculated by FEM was 720 kN. The calculation results show that axial force curve of the hydraulic mast link frame calculated by FEM is smoother in changing, but with a large amount of calculation than that of calculated by Newton-Euler meth-od. The phenomenon of waving distortion of the axial force curve was easily produced by the Newton-Euler method. Newton-Euler meth-od and FEM models of mechanism design in prophase provide the scientific evidences for axial force value of cylinder of hydraulic mast link frame. It is helpful in design with superior performance of the hydraulic device of rolling hose head deployable mechanism.