PT25型高空作业平台工作装置设计与虚拟样机仿真分析
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摘要
高空作业平台安全、可靠、灵活的特点使其广泛应用于建筑、消防、物流等诸多领域。工作装置是高空作业平台重要组成部分,其动力特性直接影响到整机作业安全和性能。因此,本文在“十一五”国家科技计划支撑项目《高大空间建筑工程安装维护设备技术与产业化开发》(项目编号：2008BAJ09B06)的支持下,结合Pro/E、ADAMS、ANSYS等软件,采用刚-柔耦合的方法,建立了PT25型蜘蛛式高空作业平台虚拟样机,并且对其进行了系统的运动学和动力学仿真分析,主要内容如下：
(1)确定工作装置主要技术参数,完成主要构件结构设计,并采用解析法对工作装置各液压缸作用力进行了详细计算和分析,结果表明工作装置技术参数选择合理,作用力匹配,性能优良。
(2)应用Pro/E软件建立高空作业平台整机三维模型,将该模型导入ADAMS仿真环境,对其工作装置进行了多刚体运动学和动力学仿真分析,获得工作过程各构件运动学和动力学参数及其变化规律。
(3)为分析主臂柔性对工作装置动态性能的影响,借助ANSYS软件建立主臂柔体模型,并将其导入ADAMS环境进行了刚—柔耦合动力学仿真计算,获得了在考虑主臂柔性时主臂位移、速度、加速度、应力等随时间的变化曲线,并分析了不同变幅速度对主臂应力的影响。
(4)选择危险工况,采用ANSYS软件对主臂进行了静态有限元分析,将其应力分析结果与同位置刚—柔耦合模型分析结果进行了比较,二者结果接近,说明所建立的刚—柔耦合模型正确,分析方法可靠。
充分利用多个软件各自的优势,建立了一套高效可行的高空作业平台工作装置虚拟样机仿真分析方法,其分析结果为设计方案的评价及改进提供了科学的依据。
Due to the features of safety, reliability and mobility, aerial working platform is widely used in many fields such as construction, fire fighting, logistics and so on. Working device is a very important part of aerial working platform. Its dynamic characteristics influences the working safety and performances of whole equipment strongly. Therefore, based on rigid-flexible coupling, the virtual prototyping of spider-type aerial working platform PT25 is built in ADAMS platform. Then, the kinematic and dynamic characteristics of the platform are simulated and analyzed. The subject is funded by National Key Technology R&D Program During the 11th Five-year Plan Period,"the Technology and Industrialization of Installation and Maintenance Construction Equipment in Huge Space"(No.2008BAJ09B06). The main works are as following:
(1) The main technical parameters of the working device are determined, and the main components are designed. The forces of hydraulic cylinders are analyzed and calculated in detail by use of analytical methods. The results show that all the parameters are reasonable, the forces are suitable, and the performances are excellent.
(2) Based on Pro/E software, the 3D model of the whole aerial working platform is established. By introducing the model into ADAMS simulation environment, the multiple rigid body kinematic and dynamic simulations of the working device are fulfilled. The corresponding kinematic and dynamic parameters along with their variation are obtained.
(3) To analyze the effect of the dynamic performance of the boom on the working device, a flexible model of the boom is established in ANSYS, and imported into ADAMS to get a rigid-flexible model of working device. The time histories of the parameters of displacements, velocities, accelerations and stresses are achieved by simulation analysis. The effects of different lifting speeds on the stresses of boom are analyzed.
(4) Choosing the dangerous working conditions, the boom is analyzed by use of static finite element method. The stresses by finite element method are compared with that by rigid-flexible model at the same working condition. They are almost the same. It is indicated that the rigid-flexible coupling model is correct, and the methods used before are credible.
Taking advantages of the superiorities of different software, a efficient and feasible method to simulate and analyze the working device of aerial working platform is put forward. The results by the method provide some evidence for evaluating and improving the design.
(1)确定工作装置主要技术参数,完成主要构件结构设计,并采用解析法对工作装置各液压缸作用力进行了详细计算和分析,结果表明工作装置技术参数选择合理,作用力匹配,性能优良。
(2)应用Pro/E软件建立高空作业平台整机三维模型,将该模型导入ADAMS仿真环境,对其工作装置进行了多刚体运动学和动力学仿真分析,获得工作过程各构件运动学和动力学参数及其变化规律。
(3)为分析主臂柔性对工作装置动态性能的影响,借助ANSYS软件建立主臂柔体模型,并将其导入ADAMS环境进行了刚—柔耦合动力学仿真计算,获得了在考虑主臂柔性时主臂位移、速度、加速度、应力等随时间的变化曲线,并分析了不同变幅速度对主臂应力的影响。
(4)选择危险工况,采用ANSYS软件对主臂进行了静态有限元分析,将其应力分析结果与同位置刚—柔耦合模型分析结果进行了比较,二者结果接近,说明所建立的刚—柔耦合模型正确,分析方法可靠。
充分利用多个软件各自的优势,建立了一套高效可行的高空作业平台工作装置虚拟样机仿真分析方法,其分析结果为设计方案的评价及改进提供了科学的依据。
Due to the features of safety, reliability and mobility, aerial working platform is widely used in many fields such as construction, fire fighting, logistics and so on. Working device is a very important part of aerial working platform. Its dynamic characteristics influences the working safety and performances of whole equipment strongly. Therefore, based on rigid-flexible coupling, the virtual prototyping of spider-type aerial working platform PT25 is built in ADAMS platform. Then, the kinematic and dynamic characteristics of the platform are simulated and analyzed. The subject is funded by National Key Technology R&D Program During the 11th Five-year Plan Period,"the Technology and Industrialization of Installation and Maintenance Construction Equipment in Huge Space"(No.2008BAJ09B06). The main works are as following:
(1) The main technical parameters of the working device are determined, and the main components are designed. The forces of hydraulic cylinders are analyzed and calculated in detail by use of analytical methods. The results show that all the parameters are reasonable, the forces are suitable, and the performances are excellent.
(2) Based on Pro/E software, the 3D model of the whole aerial working platform is established. By introducing the model into ADAMS simulation environment, the multiple rigid body kinematic and dynamic simulations of the working device are fulfilled. The corresponding kinematic and dynamic parameters along with their variation are obtained.
(3) To analyze the effect of the dynamic performance of the boom on the working device, a flexible model of the boom is established in ANSYS, and imported into ADAMS to get a rigid-flexible model of working device. The time histories of the parameters of displacements, velocities, accelerations and stresses are achieved by simulation analysis. The effects of different lifting speeds on the stresses of boom are analyzed.
(4) Choosing the dangerous working conditions, the boom is analyzed by use of static finite element method. The stresses by finite element method are compared with that by rigid-flexible model at the same working condition. They are almost the same. It is indicated that the rigid-flexible coupling model is correct, and the methods used before are credible.
Taking advantages of the superiorities of different software, a efficient and feasible method to simulate and analyze the working device of aerial working platform is put forward. The results by the method provide some evidence for evaluating and improving the design.
引文
[1]郑建荣.ADAMS—虚拟样机技术入门与提高[M].北京：机械工业出版社,2001：1-3
[2]张清,张瑞军.工程起重机结构与设计[M].北京：化学工业出版社,2002：242
[3]成大先,王德夫,姬奎生.机械设计手册[Z].北京：化学工业出版社,2003(2)：17-259
[4]GB/T 9466—2008,高空作业车[S].北京：中国标准出版社,2008
[5]王强华.一种新型四节臂同步伸缩机构[J].工程机械,1999：6-8
[6]屈福政,杨立治.伸缩臂液压缸的稳定性计算[J].液压·液力,2009：39-40
[7]刘家辉.履带起重机主臂系统动力学仿真[D].大连：大连理工大学,2007
[8]杜中华,薛德庆,赵迎红Pro/E和ADAM S传递过程中若干问题的讨论[J].机械与电子,2003：68-70
[9]李增刚.ADAMS入门详解与实例[M].北京：国防工业出版社,2009：59-60
[10]杨彦龙.液压挖掘机上作装置的虚拟样机仿真分析[D].河北：河北工业大学,2007
[11]Rajiv RaMPalli. ADAMS/Solver Theory Seminar [R]. Nov.2000
[12]Bipin Chadha, John Welsh. Next—Generation Architecture for Virtual Prototyping Lockheed Martin 1998
[13]F.Ju, Y.S.Choo, F.S.Cui. Dynamic response of tower crane induced by the pendulum motion of the payload International Journal of Solids and Structures.43 (2006)376,-389.
[14]Koh A S,Park J P.Object oriented dynamics simulator. Computational Mechanical.1994, 14(3)
[15]D.T.Phain, R.S.Gault, A coMParison of rapid prototyping technologies, International Journal of Machine Tools and Manufacture 38 (1998) 1257-1287
[16]赵丽娟,马永志.刚柔耦合系统建模与仿真关键技术研究[J].计算机工程与应用,2010,46(2)
[17]徐刚,何绍华,姚雪梅等.工程机械油气悬架ADANMS建模与性能仿真[J].中国工程机械学报,2005
[18]林绍芬,陈晖,陈清林.轮式起重机的虚拟样的仿真[J].起重运输机械.2005(1)
[19]栗锡富.ADAMS柔性体建模方法的研究[J].佳木斯大学学报,第25卷第3期
[20]ADAMS/FLEX User'Manual. Mechanical lh-naunics 1nc 2000
[21]李军,邢俊文,谭文洁ADAMS实例教程[M].北京：北京理工大学出版社,2002-7
[22][美]MSC. Software邢俊文,陶永忠译.MSC. ADAMS/VIEW高级培训教程[M].北京：清华大学出版社.2004-7
[23]赖锡煌.基于ADAMS虚拟平台的多关节机器人动力学分析[D].北京：北方工业大学,2005
[24]郑建荣,汪惠群.过山车虚拟样机的建模与动态仿真分析[J].机械设计与研究.2004-4
[25]俞武勇,阎绍泽等.柔性多体机械系统动力学特性的ADAMS仿真研究[C].美国MDI(Mechanical Dynamics Inc.)
[26]孙世基.机械系统刚柔耦合动力分析及仿真[M].北京：人民交通出版社,1999
[27]江涛,殷晨波等基于虚拟样机技术的混泥土泵车臂架的仿真研究[J].中国工程机械学报.2005,
[28]MDI Learning ADAMSNiew Basics.2000-10
[29]MDI Using the AD AMSNiew Function Builder.2000 — 10
[30]MDI Using ADAMS/PostProcessor.2000-10
[31]ADAMS/Flex Documentation. Mechanical Dynamics Inc.2003
[32]ADAMS/Flex Documentation. Mechanical Dynamics Inc.2002
[33]ADAMS/Flex Documentation. Mechanical Dynamics Inc.2001
[34]W. Korttom.Review of Multibody Computer Codes for Vehicle System Dynamics. Vehicle System Dynamics.1993-1
[35]Lin Yi, Wen Wufan, Zhang Hongxin,Fang Chuanliu. A Simulation of Dynamics of Vehicle Multi-body System. CIDVC-1990. Beijing
[36]A. A. Shabana. Dynamics Multibody of System. New York:Wiley.1989
[37]Haug E J. Computer Aided Kinematics and Dynamics of Mechanic Systems.1989(1): 199-237
[38]刘鸿文,材料力学[M].北京：高等教育出版社,2001
[39]李卫民等ANSYS工程结构实用案例分析[M].北京：化学工业出版社,2007
[40]吴晓,王金诺.SQTJ160型铁路起重机伸缩臂的有限元分析[J].起重运输机械,1998(3)
[2]张清,张瑞军.工程起重机结构与设计[M].北京：化学工业出版社,2002：242
[3]成大先,王德夫,姬奎生.机械设计手册[Z].北京：化学工业出版社,2003(2)：17-259
[4]GB/T 9466—2008,高空作业车[S].北京：中国标准出版社,2008
[5]王强华.一种新型四节臂同步伸缩机构[J].工程机械,1999：6-8
[6]屈福政,杨立治.伸缩臂液压缸的稳定性计算[J].液压·液力,2009：39-40
[7]刘家辉.履带起重机主臂系统动力学仿真[D].大连：大连理工大学,2007
[8]杜中华,薛德庆,赵迎红Pro/E和ADAM S传递过程中若干问题的讨论[J].机械与电子,2003：68-70
[9]李增刚.ADAMS入门详解与实例[M].北京：国防工业出版社,2009：59-60
[10]杨彦龙.液压挖掘机上作装置的虚拟样机仿真分析[D].河北：河北工业大学,2007
[11]Rajiv RaMPalli. ADAMS/Solver Theory Seminar [R]. Nov.2000
[12]Bipin Chadha, John Welsh. Next—Generation Architecture for Virtual Prototyping Lockheed Martin 1998
[13]F.Ju, Y.S.Choo, F.S.Cui. Dynamic response of tower crane induced by the pendulum motion of the payload International Journal of Solids and Structures.43 (2006)376,-389.
[14]Koh A S,Park J P.Object oriented dynamics simulator. Computational Mechanical.1994, 14(3)
[15]D.T.Phain, R.S.Gault, A coMParison of rapid prototyping technologies, International Journal of Machine Tools and Manufacture 38 (1998) 1257-1287
[16]赵丽娟,马永志.刚柔耦合系统建模与仿真关键技术研究[J].计算机工程与应用,2010,46(2)
[17]徐刚,何绍华,姚雪梅等.工程机械油气悬架ADANMS建模与性能仿真[J].中国工程机械学报,2005
[18]林绍芬,陈晖,陈清林.轮式起重机的虚拟样的仿真[J].起重运输机械.2005(1)
[19]栗锡富.ADAMS柔性体建模方法的研究[J].佳木斯大学学报,第25卷第3期
[20]ADAMS/FLEX User'Manual. Mechanical lh-naunics 1nc 2000
[21]李军,邢俊文,谭文洁ADAMS实例教程[M].北京：北京理工大学出版社,2002-7
[22][美]MSC. Software邢俊文,陶永忠译.MSC. ADAMS/VIEW高级培训教程[M].北京：清华大学出版社.2004-7
[23]赖锡煌.基于ADAMS虚拟平台的多关节机器人动力学分析[D].北京：北方工业大学,2005
[24]郑建荣,汪惠群.过山车虚拟样机的建模与动态仿真分析[J].机械设计与研究.2004-4
[25]俞武勇,阎绍泽等.柔性多体机械系统动力学特性的ADAMS仿真研究[C].美国MDI(Mechanical Dynamics Inc.)
[26]孙世基.机械系统刚柔耦合动力分析及仿真[M].北京：人民交通出版社,1999
[27]江涛,殷晨波等基于虚拟样机技术的混泥土泵车臂架的仿真研究[J].中国工程机械学报.2005,
[28]MDI Learning ADAMSNiew Basics.2000-10
[29]MDI Using the AD AMSNiew Function Builder.2000 — 10
[30]MDI Using ADAMS/PostProcessor.2000-10
[31]ADAMS/Flex Documentation. Mechanical Dynamics Inc.2003
[32]ADAMS/Flex Documentation. Mechanical Dynamics Inc.2002
[33]ADAMS/Flex Documentation. Mechanical Dynamics Inc.2001
[34]W. Korttom.Review of Multibody Computer Codes for Vehicle System Dynamics. Vehicle System Dynamics.1993-1
[35]Lin Yi, Wen Wufan, Zhang Hongxin,Fang Chuanliu. A Simulation of Dynamics of Vehicle Multi-body System. CIDVC-1990. Beijing
[36]A. A. Shabana. Dynamics Multibody of System. New York:Wiley.1989
[37]Haug E J. Computer Aided Kinematics and Dynamics of Mechanic Systems.1989(1): 199-237
[38]刘鸿文,材料力学[M].北京：高等教育出版社,2001
[39]李卫民等ANSYS工程结构实用案例分析[M].北京：化学工业出版社,2007
[40]吴晓,王金诺.SQTJ160型铁路起重机伸缩臂的有限元分析[J].起重运输机械,1998(3)
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