Modeling and Simulation of Long Boom Manipulator based on Geometrically Exact Beam Theory
Modeling and Simulation of Long Boom Manipulator based on Geometrically Exact Beam Theory
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DOI：
10.5220/0009830402090216
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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
：高空平台车和消防转台梯的吊臂系统可视为长吊臂机械手。由于臂架结构的细长，在运行过程中总会产生一定的振动。为了控制振动，需要进行可靠的动力学建模和仿真。本文将长臂机械手，特别是折叠臂系统，建立为柔性-刚体耦合多体系统模型。采用混合插值法将柔性长臂结构离散化为几何精确的欧拉-伯努利梁。根据虚功率原理，建立了系统动力学的控制方程。对长臂机械手的空间运动进行了动力学仿真，并对仿真结果进行了分析。
: The boom system of the aerial platform vehicle and the fire-rescue turntable ladder can be considered as a long boom manipulator. Due to the slenderness of the boom structure, there are always some vibrations occurring during the operation. In order to control the vibration, reliable dynamic modeling and simulation are necessary. In this paper, we propose a model of the long boom manipulator, especially the folding boom system, as a flexible-rigid coupled multi-body system. And the flexible long boom structure is formulated as a geometrically exact Euler-Bernoulli beam with hybrid interpolation for discretization. The governing equations of the system dynamics are established according to the principle of virtual power. A dynamic simulation of the spatial motion of the long boom manipulator is performed and the results are analyzed.