• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2017, Vol. 53 ›› Issue (7): 55-61.doi: 10.3901/JME.2017.07.055

• 机构学及机器人 • 上一篇    下一篇

双台汽车起重机柔索并联装备变幅运动下的动力学建模与分析*

訾斌, 周斌, 钱森   

  1. 合肥工业大学机械工程学院 合肥 230009
  • 出版日期:2017-04-05 发布日期:2017-04-05
  • 作者简介:

    訾斌,男,1975年出生,博士研究生导师,教授。主要研究方向为柔索并联机器人系统动力学,机电系统控制与自动化,机器人技术和智能控制,机电液装备系统集成技术。

    E-mail:zibinhfut@163.com

  • 基金资助:
    * 国家自然科学基金资助项目(51575150, 51605126); 20160627收到初稿,20170116收到修改稿;

Dynamic Modeling and Analysis of Cable Parallel Manipulator for Dual Automobile Cranes during Luffing Motion

ZI Bin, ZHOU Bin, QIAN Sen   

  1. School of Mechanical Engineering, Hefei University of Technology, Hefei 230009
  • Online:2017-04-05 Published:2017-04-05

摘要:

相比单台起重机,双台汽车起重机柔索并联装备是一种由两台汽车起重机和负载共同构成,并能够实现沿YZ轴平移和绕X轴转动的双台汽车起重机系统。运用逆解法推导了系统的变幅角响应方程,并基于此得到该系统的运动学雅可比矩阵。基于此,求解铰接点、吊臂以及负载的偏导速度矩阵和加速度矩阵。基于虚功原理和运动学关系矩阵建立该系统的动力学模型,并采用Matlab软件对含有结构参数的系统的动力学进行分析。通过数值算例,结合该方法有效地分析了结构参数对系统驱动力矩影响能力。

关键词: 变幅角响应, 动力学建模, 双台汽车起重机系统, 虚功原理, 柔索并联装备

Abstract:

Compared with single crane, cable parallel manipulators for dual automobile cranes (CPMDAC) can be treated as a dual automobile cranes system (DACS) that composed of two automobile cranes and payload, which can realize two-dimensional translations alongY, Z-axis and one-dimensional rotation aboutX-axis. The luffing angular response equation of the system is deduced based on inverse solution method, then the kinematic Jacobian matrix of the system is obtained. Based on the kinematic Jacobian matrix, the partial derivative speed matrices and acceleration matrices of hinged points, lifting arms and payload are derived. The dynamics model of the DACS is established on the basis of the principle of virtual work and kinematic relation matrices, the simulation of dynamics of the DACS with structure parameters is implemented by using Matlab software. A numerical example of the effect of structure parameters on system driving torque is given, which proves the presented method to be effective.

Key words: dual automobile cranes system, dynamic modeling, luffing angular response, principle of virtual work, cable parallel manipulator