钳夹车双层并联过约束机构力学解算与均载性分析

中国机械工程

钳夹车双层并联过约束机构力学解算与均载性分析

赵延治1,2,3;焦雷浩1,2;王向南1,2;任玉波1,2;魏鸿亮3;于跃斌3

1.燕山大学河北省并联机器人与机电系统重点实验室，秦皇岛,066004
2.先进锻压成形技术与科学教育部重点实验室（燕山大学），秦皇岛,066004
3.中车齐齐哈尔车辆有限公司，齐齐哈尔，161002

出版日期:2017-03-10 发布日期:2017-03-03
基金资助:
国家自然科学基金资助项目(51105322);
河北省自然科学基金资助项目(E2014203176);
河北省高等学校自然科学研究青年基金资助项目(QN2015040);
中国博士后科学基金资助项目(2016M590212)

Static Calculation and Load Sharing Characteristics Analysis of Double Parallel over Constrained Lifting Mechanisms of Schnabel Car

ZHAO Yanzhi1,2,3;JIAO Leihao1,2;WANG Xiangnan1,2;REN Yubo1,2;WEI Hongliang3;YU Yuebin3

1.Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System,Yanshan University,Qinhuangdao,Hebei,066004
2.Key Laboratory of Advanced Forging & Stamping Technology and Science(Yanshan University) Ministry of Education of China, Qinhuangdao,Hebei,066004
3.CRRC Qiqihaer Vehicle Limited Corporation,Qiqihaer,Heilongjiang,161002

Online:2017-03-10 Published:2017-03-03

摘要/Abstract

摘要： 为研究钳夹车双层并联过约束起升机构力传递与均载特性，基于Timoshenko梁理论建立了起升机构钳形梁刚度模型，通过联立该双层并联过约束机构弹性变形协调方程与静力平衡方程，对起升机构进行了力学解算，得到了机构分支承载力与机构刚度的映射关系。在此基础上，定义了不均衡载荷系数，分析得到了机构刚度变化及其载运偏载量对起升机构均载性能的影响规律。基于动力学仿真软件RecurDyn建立了双层并联过约束起升机构的刚柔耦合仿真模型，仿真分析结果验证了理论建模分析的正确性。

关键词: 钳夹车, 双层并联机构, 过约束, 均载

Abstract: To research the constraint forces and load sharing characteristics of double parallel over constrained lifting mechanisms of schnabel car, a stiffness model of schnabel beam was established based on Timoshenko beam theory. The static calculation was done by simultaneous equations solution of elastic deformation coordination equations and static force balance equations, and the mapping relationships among the bearing capacities and stiffnesses of the mechanisms were obtained. Then, the unbalanced load coefficients of the lifting mechanisms were defined, and the influence rule of load sharing characteristics produced by structure stiffness changes and partial loads were analysed and obtained. The rigid-flexible coupled simulation model of double parallel over constrained lifting mechanisms was built in RecurDyn and the simulation results verified the correctness of theoretical analyses.

Key words: schnabel car, parallel lifting mechanism, over constrained, load sharing

中图分类号:

TH112

赵延治, 焦雷浩, 王向南, 任玉波, 魏鸿亮, 于跃斌. 钳夹车双层并联过约束机构力学解算与均载性分析[J]. 中国机械工程.

ZHAO Yanzhi, JIAO Leihao, WANG Xiangnan, REN Yubo, WEI Hongliang, YU Yuebin. Static Calculation and Load Sharing Characteristics Analysis of Double Parallel over Constrained Lifting Mechanisms of Schnabel Car[J]. China Mechanical Engineering.

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