移动小车筒内运动刚柔耦合多体接触动力学分析

Rigid-flexible coupling and multi-body contact dynamic analysis on travelling trolley in cylinder

为研究轮式小车携被操作物在圆筒内行走过程的动力学特性及安全性,建立了由小车、柔性托架、被操作物、圆筒等构成的刚柔耦合多体接触动力学模型。提出了衡量小车携被操作物行走过程稳定性的抗倾翻稳定系数,分析了被操作物状态、推力大小等因素对小车、被操作物及托架运动、受力及安全性的影响。研究结果表明:被操作物状态及推力大小对小车行走过程的安全性都有显著影响,被操作物垂直时的小车稳定性要优于被操作物水平时的工况,推力越大,则小车行走稳定性越差。

In this article,in order to explore the dynamic characteristics and safety of the trolley carrying the manipulated object inside the cylinder,the rigid-flexible coupling and multi-body contact dynamic model is set up.The model is mainly composed of the trolley,flexible bracket,manipulated object and cylinder.The anti-tipping stability coefficient is presented to measure stability of the trolley carrying the manipulated object.Furthermore,the influence of the manipulated object and thrust acting on the motion,force and safety of the trolley,manipulated object and bracket is analyzed.The results show that both the state of the manipulated object and the magnitude of thrust have a significant impact on the trolley’s safety in travelling.The trolley enjoys higher stability with the vertical manipulated object than with the horizontal manipulated object.The greater the thrust is,the worse the trolley’s stability in travelling is.