折臂式随车起重机变幅机构运动特性仿真分析

摘要

Aiming at the problem of the lack of existing literature about the dynamic characteristics of the luffing mechanism of folding-boom lorry crane, the rigid and the flexible model were respectively established. Based on the flexible multi-body dynamics theory, the folding-booms were modeled as flexible manipulator arms and the dynamic characteristics of the luffing mechanism were analyzed. The flexible multi-body dynamics equation of the luffing mechanism was established by the Lagrange equations. The corresponding simulation system was established in Matlab/Simulink. Through the derivation and numerical solving of differential equation, the booms’ movement was analyzed. The simulation results indicate that the flexible arms’ motion is the coupling between the whole rigid motion and elastic deformation. Although the coupling has little influence on the whole motion, it affects the hoisting precision of the hoisting because of the high frequency disturbance during the rigid motion.%针对现有文献对折臂式随车起重运输车的臂架动态特性研究较少的问题，建立随车起重运输车臂架系统的刚性模型和柔性模型。基于柔性多体动力学的理论将随车起重运输车的臂架模拟为柔性机械臂，分析了折臂式随车起重运输车变幅机构的动态性能。利用拉格朗日方程建立了随车起重运输车变幅机构的柔性多体动力学方程，在Matlab/Simulink中建立了相应的仿真模型，对随车起重运输车各臂架的运动情况进行了分析，并对其进行数值求解。仿真结果表明：柔性臂架的运动表现为整体刚性运动和弹性变形量之间的耦合，导致了在刚性运动中出现较高频率的扰动，从而影响吊装定位精度。