Dynamics of the Spatial Motion of the Long Boom Manipulator Based on Nonlinear Beam Element
Dynamics of the Spatial Motion of the Long Boom Manipulator Based on Nonlinear Beam Element
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DOI：
10.1007/978-3-030-84811-8_7
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
Lingchong Gao;Yingpeng Zhuo;Michael Kleeberger;Haijun Peng;J. Fottner
中科院分区：
文献类型：
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作者：
Lingchong Gao;Yingpeng Zhuo;Michael Kleeberger;Haijun Peng;J. Fottner
移动式起重机和高空作业车的臂架系统通常设计为细长的臂架结构，因此可以视为长臂机械手。由于细长臂架结构的弹性不可忽略，长臂机械臂的动力学是一个刚柔耦合问题。该问题的难点之一是处理大刚性运动与柔性变形相结合产生的几何非线性。本文的目的是开发折叠臂系统空间运动的动态模型，以长臂机械手为例。应用一种非线性梁单元来表述柔性体在全局坐标下的运动和变形。还引入了数值平滑方法，通过过滤单元应变公式中的高频部分来减少求解的成本时间。动态方程由 MATLAB 中的 ODE 求解器求解。所提出模型的性能通过我们主席精心开发的有限元程序 NODYA 进行了验证。
The boom systems of mobile cranes and aerial platform vehicles are usually designed as long and slender boom structures thus can be regarded as long boom manipulators. The dynamics of the long boom manipulator is a rigid-flexible coupled problem due to the elasticity of such a slender boom structure is not negligible. One of the difficulties for this problem is to deal with the geometric nonlinearity comes from the combination of the large rigid motion with flexible deformation. The purpose of this paper is to develop a dynamic model for the spatial motion of the folding boom system, an example of the long boom manipulator. A kind of nonlinear beam element is applied to formulate the motion and the deformation of the flexible bodies in the global coordinate. A numerical smooth method is also introduced to reduce the cost time of the solution by filtering high-frequency parts in the formulation of the element strain. The dynamic equations are solved by the ODE solvers in MATLAB. And the performance of the proposed model is verified with NODYA, a finite element program well developed by our chair.