[1]钟星,邵辉,胡伟石.液压挖掘机工作装置建模分析与仿真[J].华侨大学学报(自然科学版),2017,38(5):602-607.[doi:10.11830/ISSN.1000-5013.201611085]
 ZHONG Xing,SHAO Hui,HU Weishi.Modeling Analysis and Simulation ofHydraulic Excavator Mechanism[J].Journal of Huaqiao University(Natural Science),2017,38(5):602-607.[doi:10.11830/ISSN.1000-5013.201611085]
点击复制

液压挖掘机工作装置建模分析与仿真()
分享到:

《华侨大学学报(自然科学版)》[ISSN:1000-5013/CN:35-1079/N]

卷:
第38卷
期数:
2017年第5期
页码:
602-607
栏目:
出版日期:
2017-09-20

文章信息/Info

Title:
Modeling Analysis and Simulation ofHydraulic Excavator Mechanism
文章编号:
1000-5013(2017)05-0602-06
作者:
钟星1 邵辉1 胡伟石2
1. 华侨大学 信息科学与工程学院, 福建 厦门 361021;2. 华侨大学 实验室与设备管理处, 福建 厦门 361021
Author(s):
ZHONG Xing1 SHAO Hui1 HU Weishi2
1. College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China; 2. Department of Laboratory and Device Management, Huaqiao University, Xiamen 361021, China
关键词:
液压挖掘机 机构模型 动力学分析 ADAMS软件
Keywords:
hydraulic excavator mechanical structure model dynamics analysis ADAMS software
分类号:
TU621
DOI:
10.11830/ISSN.1000-5013.201611085
文献标志码:
A
摘要:
针对液压挖掘机运动学和动力学建模复杂过程,以某型6 t挖掘机工作装置为研究对象,利用SimMechanics对机械结构进行快速建模,从而代替运动学模型获得挖掘机机构模型.采用Pro/E软件对液压挖掘机工作装置建立三维模型,将其导入ADAMS环境中,并对比验证作业结果.在ADAMS软件中,对挖掘机工作装置进行动力学仿真,得到液压挖掘机的工作特性曲线.仿真结果表明:理论上添加的载荷能够体现在各个驱动关节处受力变化中,相比其他阶段,在挖掘阶段关节受力矩变化影响较为复杂.
Abstract:
Motivated by complicated kinematics and dynamics modeling processes for hydraulic excavator, the presented paper aims to analyze mechanism modeling in 6 t hydraulic excavator. By using MATLAB/SimMechanics, the mechanical structure of the excavator was modeled rapidly instead of kinematics model. Its 3D model was constructed by using Pro/E and it was imported to ADAMS for remodeling. The reachable working area was compared with the result given by SimMechanics model. Furthermore, dynamics simulation of excavator working device were carried out with ADAMS software, and the working characteristic curves of the hydraulic excavator were obtained. The results of the simulation show that in theory added load on excavator bucket can be reflected in the torque change at each joint. Compared with other stages, the torque change is more complicated in the excavation stage.

参考文献/References:

[1] 吕鹏伟.液压挖掘机工作装置动力学特性的研究[D].太原:太原科技大学,2013.
[2] PEYRET F,JURASZ J.The computer integrated road construction project[J].Automation in Construction,2000(9):447-461.
[3] SINGH S,CANNON H.Muti-resolution planning for earth moving[C]//Proceedings International Conference on Robotics and Automation.Leuven:[s.n.],1998:121-126.
[4] HALL A S,MCAREE P R.Robust bucket position tracking for a large hydraulic excavator[J].Mechanism and Machine Theory,2005,40(1):1-16.
[5] TOMI M,KELERVO N,RAUNO H.Automation of an excavator based on a 3D CAD model and GPS measurement[J].Automation in Costruction,2006,15(5):571-577.
[6] 李杨民,谢存禧,王骥湘.液压挖掘机工作装置动臂、斗杆机构的多体系统运动学分析[J].建筑机械,1994(11):22-25.
[7] LEE M C,CHUNG S H,CHO J H,et al.Three-dimensional finite element analysis of powder compaction process for forming cylinder block of hydraulic pump[J].Powder Metallurgy,2008,51(1):89-94.
[8] SUI Tianzhong,WANG Lei,TAN Zhen,et al.Structural parameters optimization of excavator working device based on mining process[J].Advanced Materials Research,2012,421:759-763.
[9] 张树忠,邓斌,柯坚.基于液压变压器的挖掘机动臂势能再生系统[J].中国机械工程,2010,21(10):1160-1166.
[10] 吕广明,刘明思,杨扬,等.基于Pro/E ADAMS的液压挖掘机工作装置的动力学仿真分析[J].建筑机械,2013(17):86-90.
[11] 林慕义,史青录.单斗液压挖掘机[M].北京:冶金工业出版社,2011:35-57.
[12] 刘韬.液压挖掘机工作装置结构特性分析与仿真[D].长沙:中南大学,2010.
[13] 郑东京.挖掘机工作装置的有限元分析及其仿真[D].杨凌:西北农林科技大学,2011.
[14] 王敏.液压挖掘机工作装置的动态仿真及有限元分析[D].西安:长安大学,2015.
[15] 王在昌.液压挖掘机工作装置动力学分析及有限元优化分析[D].济南:山东科技大学,2011.
[16] 张桂菊,肖才远,谭青,等.基于虚拟样机技术挖掘机工作装置动力学分析及仿真[J].中南大学学报(自然科学版),2014(6):1827-1833.
[17] 郭银赛,张毅,程明科.基于虚拟样机技术的挖掘机工作装置运动仿真与优化设计[J].机床与液压,2015,43(15):169-172.
[18] 李渊博,何清华,张大庆.液压挖掘机工作装置动力学分析与仿真研究[J].机床与液压,2006(10):170-171.

相似文献/References:

[1]林添良,杨杰,刘强,等.新型液压挖掘机回转驱动系统仿真[J].华侨大学学报(自然科学版),2013,34(3):247.[doi:10.11830/ISSN.1000-5013.2013.03.0247]
 LIN Tian-liang,YANG Jie,LIU Qiang,et al.Simulation Study on a Rotary Driving System in Hydraulic Excavator[J].Journal of Huaqiao University(Natural Science),2013,34(5):247.[doi:10.11830/ISSN.1000-5013.2013.03.0247]
[2]孙祥云,邵辉,赵家宏.采用粒子群优化算法的液压挖掘机高效空中运动轨迹规划方法[J].华侨大学学报(自然科学版),2015,36(预先出版):0.
 SUN Xiang-yun,SHAO Hui,ZHAO Jia-hong.Efficient Air Motion's Trajectory Planning Method of Hydraulic Excavator Based on Particle Swarm Optimization Algorithm[J].Journal of Huaqiao University(Natural Science),2015,36(5):0.
[3]孙祥云,邵辉,赵家宏.采用粒子群优化算法的液压挖掘机高效空中运动轨迹规划方法[J].华侨大学学报(自然科学版),2014,35(5):498.[doi:10.11830/ISSN.1000-5013.2014.05.0498]
 SUN Xiang-yun,SHAO Hui,ZHAO Jia-hong.Efficient Air Motion’s Trajectory Planning Method of Hydraulic Excavator Based on Particle Swarm Optimization Algorithm[J].Journal of Huaqiao University(Natural Science),2014,35(5):498.[doi:10.11830/ISSN.1000-5013.2014.05.0498]
[4]邵辉,胡艳丽,洪雪梅,等.神经网络辨识的液压挖掘机LPV模型[J].华侨大学学报(自然科学版),2016,37(1):43.[doi:10.11830/ISSN.1000-5013.2016.01.0043]
 SHAO Hui,HU Yanli,HONG Xuemei,et al.LPV Model of Hydraulic Excavator Based on Neural Network Identification[J].Journal of Huaqiao University(Natural Science),2016,37(5):43.[doi:10.11830/ISSN.1000-5013.2016.01.0043]
[5]邵辉,叶贤成,孙祥云.液压挖掘机的两级平滑挖掘规划方法[J].华侨大学学报(自然科学版),2016,37(5):610.[doi:10.11830/ISSN.1000-5013.201605017]
 SHAO Hui,YE Xiancheng,SUN Xiangyun.Research on Two-Level Planning Method of Smoothly Excavating for Hydraulic Excavator[J].Journal of Huaqiao University(Natural Science),2016,37(5):610.[doi:10.11830/ISSN.1000-5013.201605017]

备注/Memo

备注/Memo:
收稿日期: 2016-11-23
通信作者: 邵辉(1973-),女,副教授,博士,主要从事机器人控制、运动规划、智能控制、非线性系统LPV建模的研究.E-mail:shaohuihull@163.com.
基金项目: 福建省科技计划项目(2015H0026); 福建省泉州市科技计划项目(2013Z34); 第48批留学回国人员科研启动基金(Z1534004)
更新日期/Last Update: 2017-09-20