CAJ | 학술논문

为准确描述液压挖掘机机械臂动力学模型，根据柔性多体动力学理论，采用模态函数描述臂架的弹性变形，利用LAGRANGE定理和虚功原理建立挖掘机臂架系统刚柔耦合的非线性动力学方程。对已建立的动力学方程利用MATLAB进行数值求解，运用仿真软件ADAMS及NASTRAN建立液压挖掘机机械臂刚柔耦合模型并进行仿真分析，通过对比二者结果表明动力学方程建模方法的正确性。运用数值求解方法进行模态计算和动力学响应分析，求解相关几何参数的一阶固有频率灵敏度，分析了影响机械臂动力学特性的主要模态参数，为进一步研究其结构优化及运动精度控制提供依据。
위준학묘술액압알굴궤궤계비동역학모형，근거유성다체동역학이론，채용모태함수묘술비가적탄성변형，이용LAGRANGE정리화허공원리건립알굴궤비가계통강유우합적비선성동역학방정。대이건립적동역학방정이용MATLAB진행수치구해，운용방진연건ADAMS급NASTRAN건립액압알굴궤궤계비강유우합모형병진행방진분석，통과대비이자결과표명동역학방정건모방법적정학성。운용수치구해방법진행모태계산화동역학향응분석，구해상관궤하삼수적일계고유빈솔령민도，분석료영향궤계비동역학특성적주요모태삼수，위진일보연구기결구우화급운동정도공제제공의거。
In order to accurately describe the dynamic model of hydraulic excavator's mechanical arm,modal functions were adopted to describe the elastic deformation of the mechanical arm.Lagrange theorem and the principle of virtual work were used to establish rigid-flexible coupling nonlinear dynamic equations of the arm frame system.The dynamic equations were numerically solved by MATLAB.The rigid-flexible coupling model of the arm was established and simulated by the simulation software ADAMS and NASTRAN.It is shown that the modeling method of dynamic equations adopted in this paper is correct by comparing the both results.The modal responses were numerically calculated the sensitivity of the first natural frequency to the geometric parameters related was investigated and the main modal parameters were analyzed which influence dynamic characteristics of the arm.The results provide the basis for the further optimization of excavator structure and the motion error control.