剪刀式折叠桥梁展桥机构架桥过程力学状态分析

Analysis of mechanical state of deployable mechanism of deployable scissors bridge during the bridging process

为了获得剪刀式折叠桥关键铰点在架桥过程中受力情况,利用Denavit-Hatenberg齐次变换矩阵建立了展桥机构的运动学模型,然后通过立学平衡方程建立展桥机构的力学模型,得到典型姿态下关键铰点的受力情况。利用虚拟样机技术对剪刀式折叠桥梁展桥机构展开过程进行了仿真分析,验证了模型的正确性。结果表明,展桥机构的关键铰点在架桥过程中将受到交变载荷的作用(对液压系统产生较大冲击)。其中,中桥节翻转油缸所连接铰点受力最大,对液压系统造成影响最大,与样机展桥油缸在实验时发生间歇性溢油现象相吻合。研究结果为展桥机构优化设计打下基础。

In order to obtain the force for the key hinge points of the deployable scissors bridge during the bridging process,the kinematic model of the deployable mechanism of bridge is established using the D-H omogeneous transformation matrix.Then,the force of the key hinge point in the typical attitude is obtained by establishing the mechanical model of the bridge mechanism.The virtual prototyping technology was used to simulate the scissor-folded bridge mechanism,which verified the correctness of the model.The results show that the key hinge point of the bridge mechanism will be subjected to during the bridging process.Among them,the hinge point of the middle bridge section turning cylinder bears the greatest force,which has a impact on the hydraulic system.The research results lay the foundation for the optimal design of the bridge mechanism.