潜孔钻机钻臂虚拟样机建模与动力学仿真

摘要

Aiming at the character of a complex multi axes mechanism of down-the-hole drill boom, and in order to improve the reliability and effectiveness of design, a method for design and simulation by virtual prototype was pro posed. Fist, the virtual prototype model of drill boom was build by using Pro/E and ADAMS. And then, the 4 typical actions were simulated according to its practical work condition, achieving the stress change curve of each hydraulic cylinder. At last, the results of simulation with experiments were compared. The experiment confirms that the simula tion model and results are reasonable and reliable. This work provides reliable references for further design and re search of the boom.%研究潜孔钻机优化定位和结构设计问题,潜孔钻机钻臂是一种复杂的多关节机构的特点,传统的方法采用机器人动力学模型求解困难.为了提高设计的可靠性和有效性,提出一种虚拟样机技术进行设计,建立仿真系统.首先采用Pro/E和ADAMS建立钻臂虚拟样机模型,再结合实际工况对钻臂四个典型动作进行动力学仿真,得到各液压缸受力变化曲线.实验结果进行了对比.实验表明仿真模型和仿真结果合理可靠,为进一步进行钻臂设计和研究提供了可靠的参考依据.