【摘要】 自动吊环吊卡是修井作业机械化系统的重要组成部分,根据自动吊环吊卡机构组成特点及工作原理,将其简化为所有构件均是在同一平面内工作的平面系统。依据刚体运动学及动力学理论,运用约束方程、速度方程、加速度方程、虚功原理、拉格朗日乘子及微分-代数混合运动方程,建立自动吊环吊卡摆动过程的运动学和动力学数学模型,为自动吊环吊卡摆动过程的运动学和动力学分析提供了理论依据。更多还原

【Abstract】 Automatic rings and elevator are the important components of workover operations in elevating mechanical system,according to composition characteristics and working principle of automatic rings and elevator’s mechanism,automatic rings and elevator was simplified to a plane system that all components of it were working in the same plane.Based on rigid body kinematics and dynamics theories,the kinematics and dynamics mathematical models of automatic rings and elevator swinging progress were established by using constraint equations,rate equation,acceleration equations,virtual principle work,Lagrange multiplier and differential-algebraic mixed equations of motion.It provides theoretical basis for kinematics and dynamics analysis in swinging process of the automatic rings and elevator.更多还原