基于虚拟样机的轮式起重机吊装安全性研究

摘要

Safety is not taken into account in the optimization result of crane hoisting process trajectory. This paper presented the method to test the safety of crane hoisting process with virtual prototype simulation technology to insure the hoisting process safety. In paper, the position and velocity mapping relationship between the joint revolution and the arm end of crane was derived by deducing forward and inverse kinematics equation and Jacobian matrix of crane which has three freedoms of motion. The crane trajectory planning method which uses quintic polynomial interpolating function was presented. According to the result of trajectory planning, the hoisting process was simulated with ADAMS software. The simulation results were analysed to validate the safety of the crane hoisting process.%研究起重机吊装轨迹优化的问题,系统缺少对吊装轨迹安全因素的控制.为确保吊装作业安全顺利,提出采用虚拟样机仿真技术检验起重机吊装过程.首先推导了三自由度起重机的正逆运动学模型及起重机的雅可比矩阵,得到起重机各关节的位置及速度对起重臂末端位置及速度之间的映射关系,运用五次多项式插值函数对起重机的吊装过程做轨迹规划.根据吊装过程规划模型,在ADAMS软件上进行仿真,仿真结果验证了吊装过程的安全性和定位的准确性.