基于ADAMS和MATLAB的挖掘机工作装置动力学仿真

Dynamic simulation of excavator manipulator based on ADAMS and MATLAB

采用多体动力学仿真的方法,联合ADAMS与MATLAB建立了某机械式挖掘机工作装置的虚拟样机,对其进行动力学仿真分析,得到挖掘过程中铲斗内物料重力,挖掘阻力以及提升、推压方向的位移、速度、作用力等关键参数的变化曲线。结果表明,虚拟样机参数选择准确,仿真结果合理,可以快速地预测工作装置的性能,为工作装置的性能设计提供了合理依据。

The virtual prototype of the manipulator of a mechanical excavator was established by using ADAMS and MATLAB based on multi-body dynamics method, and the dynamic simulation and analysis were conducted, thus the variation curves of gravity of material in bucket, excavating resistance as well as displacement, velocity and force in lifting and pushing direction were obtained. The results indicated the parameters of the virtual prototype were accurate, and the simulation results were reasonable. The simulation method could predict the performance of the manipulator rapidly, and provide reasonable basis for the performance design of the manipulator.