基于等效有限元方法的液压挖掘机工作装置动力学及特性研究
Study on Dynamics for Working Device of Hydraulic Excavator Based on the Equivalent Finite Element Method

根据液压挖掘机工作装置机械臂运动和受力特点,对其进行动力学分析。采用基于集中质量和惯量的等效有限元法建立液压挖掘机机械臂的动力学微分方程,运用龙格-库塔(Runge-Kutta)数值求解法对运动微分方程进行推导和数值求解,对各臂杆的动力学特性进行了分析。采用动力学仿真软件ADAMS建立了液压挖掘机工作装置的虚拟样机模型,选取与数值求解相同工况的参数进行仿真分析。通过对比仿真结果和数值求解两种方法得到的动力学特性曲线,结果基本一致,表明机械臂动力学建模方法的正确性。
The dynamic characteristics is analyzed with the motion and force characteristics of a hydraulic excavator's working device's mechanical arm. The dynamic differential equations of the hydraulic excavator's mechanical arm are established with the equivalent finite element method based on concentrated mass and inertia. The derivation and numerical solution are conducted for the differential equations of motion with the Runge-Kutta numerical solution method. The dynamic characteristics are analyzed for each arm. The virtual prototype model of the hydraulic excavator's working device is established with the dynamics simulation software Adams. The simulation results are analyzed by selecting the same condition parameters with the numerical solution. By comparing the dynamic characteristic curve obtained with the simulation results and numerical solution, the results are basically consistent, which show that the dynamic modeling method of mechanical arm is correct