基于多体动力学的混凝土泵车臂架的运动分析

基于多体动力学理论和拉格朗日方程建立了四节臂混凝土泵车臂架的刚性运动微分方程.通过对泵车臂架运动微分方程的推导和数值求解,对各臂杆的转角和末端轨迹进行了分析.采用动力学仿真软件对混凝土泵车的臂架建立了刚性仿真模型,选取与数值求解相同的参数进行仿真,对比仿真结果和数值求解得到的轨迹,两种方法的结果基本一致.证明了采用多体动力学方法建立的混凝土泵车臂架的运动方程,可以准确地描述泵车的各项动力学特性.

Kinematic Analysis Based on Multi-body Dynamics for Placer Jib of Concrete Pump Truck

Based on the multi-body dynamics and Lagrange equation,the differential equation of rigid motion of the four-bar placer jib of a concrete pump truck is deduced.With the numerical solution to the equation,the rotation angles between every two bars and the jib end track are analyzed.A dynamical simulation software is used to develop the rigid motion model for the jib,in which the same kinematic parameters are selected to those in numerical solution,thus comparing the track as the result of simulation with that numerically solved.It is shown that the two results are basically in conformity with each other.The multi-body dynamics is therefore proved useful to express the movement equation of the placer jib of concrete pump truck with each and all dynamic behavior expressed exactly.