基于刚‒柔耦合的反铲液压挖掘机工作装置多体动力学分析与仿真

Multi-body Dynamic Analysis and Simulation of Backhoe Hydraulic Excavator Working Device Based on Rigid-flexible Coupling

摘要:

以某型挖掘机为研究对象，建立其工作装置及挖掘阻力数学模型。针对土方、石方挖掘工况，采用压力传感器、位移传感器测得挖掘过程中各油缸的压力及位移，采用电阻应变片测出动臂与斗杆上各测点的应力。基于所获得的各油缸位移及压力，通过动力学分析计算载荷。使用有限元分析软件和动力学仿真软件建立挖掘机刚?柔耦合模型，并以各油缸位移曲线为驱动，得到动臂及斗杆上各点应力。仿真计算与应力测试的对比结果表明，对应测点的应力变化趋势基本一致，误差在15%以内。

Abstract:

By taking a certain type of excavator as the research object， a working device is set up and a mathematical model of digging resistance is established. Firstly， the pressure and the displacement of each cylinder during excavation are tested by pressure sensor and displacement sensor， and the stress of the boom and arm at each measuring point is measured by resistance strain gauge in the working conditions of soil and stone excavation. Secondly， the loads are calculated by dynamic analysis based on the displacement and pressure of each cylinder. Finally， the rigid-flexible coupling model of the excavator is built by using finite element software and dynamic simulation software. Driven by the displacement curve of each cylinder， the stress of the boom and arm at each measuring point is obtained. It is shown that simulation results and test results of the stress have the same trend， and the error is less than 15%.