液压抓管机工作装置的虚拟样机分析与关键技术研究

发布时间：2018-03-06 08:10

本文选题：液压抓管机　切入点：虚拟样机　出处：《石家庄铁道大学》2015年硕士论文　论文类型：学位论文

【摘要】：本文结合液压抓管机的结构设计,基于虚拟样机技术,以三维设计软件Solidworks和虚拟样机仿真软件ADAMS为平台,研究建立了虚拟样机仿真模型,对液压抓管机进行了运动学轨迹分析,并应用D-H法建立抓管机数学结构模型,计算抓管机几个重要轨迹位置的理论值并与仿真值相比较。研究虚拟样机刚柔耦合模型分析方法,建立液压抓管机刚柔耦合模型,研究液压抓管机动力学仿真分析。为了探索产品在设计过程中所运用的虚拟样机关键技术,本文主要进行了以下几方面的研究。首先,结合液压抓管机结构设计,简要分析了液压抓管机构造原理及运动特性,并采用三维实体设计软件Solidworks建立了液压抓管机三维模型。其次,将建立的三维实体模型导入仿真分析软件ADAMS中进行液压抓管机的运动学分析,得到液压抓管机的平面运动轨迹,掌握了抓管机的工作范围。再次,为了验证仿真分析数值的准确性,应用D-H法对抓管机进行了数学模型分析,采用矩阵变换得到液压抓管机抓手的运动位置,并且计算出了抓管机几种特殊工况下的轨迹位置,并与仿真结果相比较。最后,结合仿真软件在运动学与动力学分析中的理论基础,对液压抓管机进行了刚柔耦合状态下的虚拟样机模型进行动力学分析。液压抓管机的仿真与分析研究,是计算机仿真在工程领域的的进一步探讨,基于ADAMS的刚柔耦合分析是液压抓管机在国内文献中的首次尝试,研究成果可以为该类机械动态设计的研究提供参考。
[Abstract]:Combined with the structural design of hydraulic pipe grab machine, based on virtual prototyping technology, using 3D design software Solidworks and virtual prototype simulation software ADAMS as the platform, the virtual prototype simulation model is studied and established, and the kinematics trajectory analysis of hydraulic pipe grab machine is carried out. The mathematical structure model of pipe grab machine is established by D-H method, and the theoretical value of several important locus position of pipe grab machine is calculated and compared with the simulation value. The rigid-flexible coupling model analysis method of virtual prototype is studied, and the rigid-flexible coupling model of hydraulic pipe grab machine is established. In order to explore the key technology of virtual prototyping used in the design process of the product, this paper mainly studies the following aspects. First, combined with the structure design of the hydraulic pipe grab machine, The principle and motion characteristics of hydraulic tubing mechanism are briefly analyzed, and the 3D model of hydraulic pipe grab machine is established by using 3D solid design software Solidworks. The 3D solid model is introduced into the simulation analysis software ADAMS to analyze the kinematics of the hydraulic pipe grab machine. The plane motion track of the hydraulic pipe grab machine is obtained, and the working range of the pipe grab machine is grasped. In order to verify the accuracy of the simulation analysis, the mathematical model of the pipe grab machine is analyzed by D-H method. The movement position of the grab hand of the hydraulic pipe grab machine is obtained by matrix transformation, and the trajectory position of the pipe grab machine under several special working conditions is calculated. And compared with the simulation results. Finally, combined with the simulation software in kinematics and dynamics analysis of the theoretical basis, The dynamic analysis of the virtual prototype model of hydraulic pipe grab machine under the condition of rigid and flexible coupling is carried out. The simulation and analysis of hydraulic pipe grab machine are further discussed in the field of engineering by computer simulation. The rigid-flexible coupling analysis based on ADAMS is the first attempt of hydraulic pipe grab machine in domestic literature. The research results can provide a reference for the dynamic design of this kind of machinery.
【学位授予单位】：石家庄铁道大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U175.5

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