一种新型装载机工作装置的运动学与动力学分析

doi:10.3901/JME.2025.05.178

摘要/Abstract

摘要： 为实现具有自主知识产权的装载机工作装置的研发设计，针对一种八杆含单个复铰的新型装载机工作装置进行运动学与动力学分析。通过对新型装载机工作装置的自由度分析，验证了该工作装置满足装载机作业要求的一个旋转自由度和一个移动自由度。采用复矢量法对新型工作装置进行运动学分析，建立了铲斗末端的位姿空间和各构件的角加速度与驱动空间的映射关系。基于虚功原理，建立了新型工作装置的动力学模型，推导出液压缸驱动力的数学模型。对液压缸的运动进行规划，采用两种装载机常用的铲掘方法，基于Matlab和ADAMS软件对装载机的一个作业循环进行动力学仿真对比分析，得到举升液压缸与转斗液压缸驱动力的变化规律，仿真结果误差在合理范围之内，验证了动力学模型的正确性。以动臂举升工况为例，研究了不同液压缸驱动速度和加速度对液压缸驱动力的影响，得到当液压缸驱动速度和加速度小幅度变化时，液压缸驱动力受到的影响较小而工作装置惯性力受到的影响较大。此外，工作装置所受的重力和外负载对于液压缸的驱动力起决定性作用。研究结果为装载机工作装置的研发设计提供了重要理论依据，对于工作装置的液压系统设计具有指导意义。

关键词: 新型装载机工作装置, 复矢量法, 运动学分析, 虚功原理, 动力学模型, 液压缸驱动力

Abstract: In order to realize the development and design of the loader working device with independent intellectual property rights, the kinematics and dynamics analysis of a new loader working device with eight bars and a multiple-joint are carried out. By analyzing the degrees of freedom of the new loader working device, it is verified that the working device satisfies one rotational degree of freedom and one translational degree of freedom required for loader operation. The kinematics analysis of the new working device is carried out by using the complex vector method. The mapping relations between the pose space at the end of bucket, the angular acceleration of each component and the driving space are established. Based on the principle of virtual work, the dynamic model of the new working device is established, and the mathematical model of the driving force of the hydraulic cylinder is derived. The motion of the hydraulic cylinder is planned, and two common shoveling methods for loaders are adopted. Based on Matlab and ADAMS software, the dynamic simulation and comparative analysis of a working cycle of the loader are carried out, and the rule of change of the driving force of the lifting hydraulic cylinder and the bucket hydraulic cylinder is obtained. The error of the simulation results is within a reasonable range, which verifies the correctness of the dynamic model. Taking the boom lifting condition as an example, the influence of different hydraulic cylinder driving speed and acceleration on the driving force of hydraulic cylinder is studied, it is concluded that when the driving speed and acceleration of the hydraulic cylinder change slightly, the driving force of the hydraulic cylinder is less affected and the inertial force of the working device is greatly affected. In addition, the gravity and external load of the working device play a decisive role in the driving force of the hydraulic cylinder. The research results provide an important theoretical basis for the development and design of loader working device, and have guiding significance for the design of the hydraulic system of the working device.

Key words: new loader working device, complex vector method, kinematics analysis, principle of virtual work, dynamic model, driving force of hydraulic cylinder

中图分类号:

TH243

黄鹏, 张金程, 丁华锋, 陈子明, 赵玉倩. 一种新型装载机工作装置的运动学与动力学分析[J]. 机械工程学报, 2025, 61(5): 178-190.

HUANG Peng, ZHANG Jincheng, DING Huafeng, CHEN Ziming, ZHAO Yuqian. Kinematics and Dynamics Analysis of a New Loader Working Device[J]. Journal of Mechanical Engineering, 2025, 61(5): 178-190.

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