可控装载机构动力学分析与优化设计
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摘要
以新型可控机构式装载机为研究对象,以动臂升降支链关键参数作为设计变量,以第一主动杆在动臂举升过程中最大力矩最小为优化目标,以整体布局、传动角以及奇异性等作为约束条件,建立了动臂升降支链的尺度优化模型;利用复合形法对优化模型进行了数值求解,得到了动臂升降支链各构件最佳尺度参数;并使第一主动杆最大驱动力矩降低了11%。通过基于ADAMS的虚拟样机仿真,仿真结果表明,优化后可控装载机构动态性能得到了明显改善,当动臂位于上极限位置时第一主动杆接近逆运动学奇异位置,功率减小了80%。该研究将为可控机构式装载机性能提升提供依据。
The study object is the new controllable machinery loader,the design variable is the key parameters of boom lift branched,and the optimization goal is the least of maximum torque of the first during active-member lifting,and the constraints are overall layout,transmission angle and singularity,then the dimension optimization model of boom lift branched is built. What's more,by using complex method,the numerical solving on optimization model is carried out and the best dimension parameters of each member of boom lift branched are obtained and the maximum drive torque of first active-member is lowered by 11%. Finally,the virtual prototype simulation based on ADAMS is conducted. The simulation result shows that the dynamics performance of optimized controllable loading mechanism is significantly improved. When boom is at the top position the first active-member is close to the inverse kinematics singular position and the power is reduced by80%. This study will provide a basis for performance promoting of controllable machinery loader.
The study object is the new controllable machinery loader,the design variable is the key parameters of boom lift branched,and the optimization goal is the least of maximum torque of the first during active-member lifting,and the constraints are overall layout,transmission angle and singularity,then the dimension optimization model of boom lift branched is built. What's more,by using complex method,the numerical solving on optimization model is carried out and the best dimension parameters of each member of boom lift branched are obtained and the maximum drive torque of first active-member is lowered by 11%. Finally,the virtual prototype simulation based on ADAMS is conducted. The simulation result shows that the dynamics performance of optimized controllable loading mechanism is significantly improved. When boom is at the top position the first active-member is close to the inverse kinematics singular position and the power is reduced by80%. This study will provide a basis for performance promoting of controllable machinery loader.
引文
[1]权龙,高有山,程珩.提高工程机械能量利用率的技术现状及新进展[J].液压与气动,2013(4):1-9.
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[10]李瑞琴,邹慧君.可控机构的分类及应用[J].机械设计与研究,2002,18(4):17-19.
[11]张新华,张策,田汉民.混合驱动机械系统建模的理论依据[J].机械科学与技术,2001(6):857-859.
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[14]OKWUDIRE C,RODERS J.Design and control of a novel hybrid feed drive for high performance and energy efficient machining[J].CIRP Annals-Manufacturing Technology,2013,62(1):391-394.
[15]SESHA S V,BHARTENDU S.Programmable cam mechanisms[J].The 26th International Symposium on Industrial Robots,1998:267-272.
[16]STRAETE H J V D,SCHUTTER J D.Hybrid cam mechanisms[J].IEEE/ASME Transactions on Mechatronics,1996,1(4):284-289.
[17]YAN H S,YAN G J.Integrated control and mechanism design for the variable input-speed servo four-bar linkages[J].Mechatronics,2009,19(2):274-285.
[18]YAN H S,CHEN W R.On the output motion characteristics of variable input speed servo-controlled slider-crank mechanisms[J].Mechanism and Machine Theory,2000,35(4):541-561.
[19]YAN H S,CHEN W R.A variable input speed approach for improving the output motion characteristics of watt-type presses[J].International Journal of Machine Tools and Manufacture,2000,40(5):675-690.
[20]李辉.混合驱动可控压力机的基础理论研究[D].天津:天津大学,2003:49-63.
[21]李辉,张策,宋秩民,等.可控压力机的动力学建模和仿真[J].机械工程学报,2005,41(3):180-184.
[22]黄洪钟,姚新胜,周仲荣.基于满意度原理的装载机工作装置的多目标优化设计[J].机械工程学报,2003,39(5):97-103.
[23]秦四成.现代工程机械设计技术及应用[M].北京:化学工业出版社,2013:175-177.
[2]彭熙伟,陈建萍.液压技术的发展动向[J],液压与气动,2007(3):1-5.
[3]蒋真平,朱喜林.ZL50G型轮式装载机噪声测试与频谱分析[J].工程机械,2007:38(12):15-20.
[4]HENEY P J.The big speak out on environmentally friendly systems[J].Hydraulics&Pneumatics,2005(5):26-28.
[5]HENEY P J.Kathleen A.Franzinger.Fluid power 20/20[J].Hydraulics&Pneumatics,2005(1):20-26.
[6]ZIMMERMAN J D,PELOSI M,WILLIAMSON C A,et al.Energy consumption of an LS excavator hydraulic system[C].ASME International Mechanical Engineering Congress and Exposition,November11-15,Ssattle,WA,USA.New York:ASME,2007:117-126.
[7]邹慧君,李瑞琴,郭为忠,等.机构学10年来主要研究成果和发展展望[J].机械工程学报,2003,39(12):22-30.
[8]ERDMAN A.Modem kinematics:developments in the last forty years[J].Research Gate,1993:1-15.
[9]白勇军.大型重载伺服机械压力机的关键技术及实验研究[D].上海:上海交通大学,2012:7-17.
[10]李瑞琴,邹慧君.可控机构的分类及应用[J].机械设计与研究,2002,18(4):17-19.
[11]张新华,张策,田汉民.混合驱动机械系统建模的理论依据[J].机械科学与技术,2001(6):857-859.
[12]蔡敢为,张林,潘宇晨,等.一种多连杆装载机构:201110189561.7[P].2011-12-28.
[13]OUYANG P R,LI Q,ZHANG W J,et al.Design,modeling and control of a hybrid machine system[J].Mechatronics,2004,14(10):1197-1217.
[14]OKWUDIRE C,RODERS J.Design and control of a novel hybrid feed drive for high performance and energy efficient machining[J].CIRP Annals-Manufacturing Technology,2013,62(1):391-394.
[15]SESHA S V,BHARTENDU S.Programmable cam mechanisms[J].The 26th International Symposium on Industrial Robots,1998:267-272.
[16]STRAETE H J V D,SCHUTTER J D.Hybrid cam mechanisms[J].IEEE/ASME Transactions on Mechatronics,1996,1(4):284-289.
[17]YAN H S,YAN G J.Integrated control and mechanism design for the variable input-speed servo four-bar linkages[J].Mechatronics,2009,19(2):274-285.
[18]YAN H S,CHEN W R.On the output motion characteristics of variable input speed servo-controlled slider-crank mechanisms[J].Mechanism and Machine Theory,2000,35(4):541-561.
[19]YAN H S,CHEN W R.A variable input speed approach for improving the output motion characteristics of watt-type presses[J].International Journal of Machine Tools and Manufacture,2000,40(5):675-690.
[20]李辉.混合驱动可控压力机的基础理论研究[D].天津:天津大学,2003:49-63.
[21]李辉,张策,宋秩民,等.可控压力机的动力学建模和仿真[J].机械工程学报,2005,41(3):180-184.
[22]黄洪钟,姚新胜,周仲荣.基于满意度原理的装载机工作装置的多目标优化设计[J].机械工程学报,2003,39(5):97-103.
[23]秦四成.现代工程机械设计技术及应用[M].北京:化学工业出版社,2013:175-177.