【作者】 丁寿滨；

【导师】 常宗瑜；

【作者基本信息】 中国海洋大学 ， 环境工程， 2005， 硕士

【摘要】 本文考虑了挖掘机工作过程中与环境之间的相互作用,利用虚拟样机技术(VPT)对挖掘机-环境系统的动力学问题进行了研究。本文的主要研究内容包括以下几个方面: 第一,阐述了在ADAMS环境下开发机械系统的虚拟样机的流程,提出了利用ADAMS与常用CAD软件之间的接口实现模型数据共享的方法。 第二,基于已有的土动力学理论,分析了各种因素对挖掘阻力的影响,提出了计算挖掘阻力的方法。 第三,在上述工作的基础上,应用虚拟样机技术对小型反铲液压挖掘机挖掘动力学过程进行了研究。在ADAMS/View环境中建立了样机模型,并进行了仿真分析。同时还运用宏命令对ADAMS环境中挖掘机的虚拟样机系统进行了二次开发,建立了小型反铲液压挖掘机的人机交互控制界面,便于对虚拟样机进行交互控制。 第四,本文利用虚拟样机技术对大型矿用挖掘机挖掘过程及其相关问题进行了研究。在ADAMS/View环境中建立了大型矿用挖掘机模型,并进行了动力学仿真。此外,分析了大型挖掘机向卡车中倾倒矿石时,卡车一乘员系统的动力学响应,建立了卡车一乘员系统的虚拟振动模型,利用数值积分的方法对整个系统的动力响应进行了仿真。 第五,本文对水下挖掘机器人的虚拟样机进行了研究。利用Morison方程和挖掘力公式分别推导了水下挖掘设备所受到的水阻力和挖掘阻力,并将其引入水下挖掘机器人的虚拟模型中,对其挖掘过程进行了模拟。 本文的工作表明利用虚拟样机技术可以对挖掘机—环境系统的动力学进行全面的模拟和仿真,这为系统的优化设计和自动控制提供了基础。更多还原

【Abstract】 In this paper, the interaction between excavator and environment is considered. By applying VPT, dynamics of excavator-environment system is studied. The mainly contents are shown as follows:Firstly, the procedures of building virtual prototype are depicted. The method is proposed to share data of models through the interface between ADAMS and CAD software.Secondly, based on the soil dynamics theory nowadays, the effects on the digging force of some factors are analyzed. A measure to calculate digging force is also carried out.Thirdly, based on above work, dynamics of small excavator with interaction between machinery and soil is investigated. The model of this excavator is developed in environment of ADAMS/View and simulation results are also given. At the same time, macro commands are used to develop a human-computer interaction in order to watch the performance and implement control.Fourthly, digging process and related problem of huge mining excavator are studied. The model of this kind of excavator is built in the environment of ADAMS/View and dynamic response is simulated in computer. In addition, dynamics of truck-driver system is studied while the shovel is dumping material to truck. In this section, the virtual vibration model is built and numerical method is used to simulate the response.Fifthly, this paper also studies the virtual prototype of underwater digging machines. By applying Morison equation and digging force formula the drag force and digging resistant force are obtained and integrated into the virtual model of underwater excavator. The digging processes are simulated in ADAMS.The work in this paper suggests that whole simulation can be carried out by using VPT and it provides the basis for design and automated control.更多还原