基于ADAMS的叉车转向动力特性分析

发布时间：2018-03-28 11:09

本文选题：多体动力学　切入点：曲柄滑块　出处：《太原科技大学》2013年硕士论文

【摘要】：本文以某型3T叉车为原型，以动力学软件ADAMS为依托，对曲柄滑块式转向机构进行运动学以及动力学仿真分析，，并对曲柄滑块式转向机构存在车轮外倾角与主销内倾角时的转向特性，进行动力学仿真分析与验证。本文首先根据刚体动力学基本理论，对叉车的曲柄滑块转向机构进行运动学和动力学分析，然后根据多柔体动力学理论，建立了转向轮胎的运动学、静力学以及动力学方程。对叉车转向定位角进行了分析，当车轮外倾角与主销内倾角存在时，建立了适用于叉车的转向力矩数学模型。利用Pro/E3.0建立了叉车转向系统的简化模型，并利用MECHANISM/Pro模块实现从Pro/E3.0到ADAMS的图形数据无缝传输，并通过在ADAMS中建立轮胎与路面文件，完成叉车虚拟样机模型的构建。在ADAMS中对样机模型添加约束与驱动，对叉车曲柄滑块转向机构进行仿真，以外轮转角平均误差最小为目标，转向节臂长、转向节臂初始角、连杆长度、液压缸偏距为变量，完成了对机构的优化。在ADAMS中，通过实验分析研究了转向机构中的回正力矩、回正阻力矩以及液压缸活塞杆产生的推力矩随主销内倾角的变化情况，说明了建立的力矩数学模型是正确的。以液压缸活塞杆产生的平均推力矩最小为目标，主销内倾角为变量，对模型进行优化设计，并对优化后的模型进行了回正性能试验，说明主销内倾角的存在改善了曲柄滑块转向机构的转向性能。利用ADAMS虚拟样机技术，对叉车转向机构进行设计，得到转向机构相关的运动学与动力学数据曲线图，为叉车转向机构的设计研发提供方法与数据参考。
[Abstract]:In this paper, a 3T forklift is used as the prototype and the dynamic software ADAMS is used to analyze the kinematics and dynamics of the crank slider steering mechanism. The dynamic simulation analysis and verification of the steering characteristics of the crank slider steering mechanism when the wheel inclination angle and the internal inclination angle of the main pin exist are analyzed and verified by dynamic simulation. Based on the basic theory of rigid body dynamics, the kinematics and dynamics of the steering mechanism of the crank and slider of forklift are analyzed, and then the kinematics of steering tire is established according to the theory of multi-flexible body dynamics. Static and dynamic equations. The steering positioning angle of forklift is analyzed. When the outside inclination angle of wheel and the internal inclination angle of the main pin exist, the mathematical model of steering moment suitable for forklift truck is established. The simplified model of steering system of forklift truck is established by using Pro/E3.0. The MECHANISM/Pro module is used to realize the seamless transmission of graphic data from Pro/E3.0 to ADAMS, and the virtual prototype model of forklift truck is constructed by establishing tire and pavement files in ADAMS. The constraints and drivers are added to the prototype model in ADAMS. In the simulation of the steering mechanism of the forklift crank and slider, the minimum average error of the outer wheel rotation angle is the target, the length of the steering knuckle arm, the initial angle of the steering arm, the length of the connecting rod and the offset of the hydraulic cylinder are variables as the variables. In ADAMS, the mechanism is optimized. Through the experimental analysis, the change of the return moment, the return resistance moment and the thrust moment of the piston rod in the steering mechanism with the internal inclination angle of the main pin is studied. It is shown that the established mathematical model of torque is correct. Taking the minimum average torque produced by the piston rod of the hydraulic cylinder as the target and the internal inclination angle of the main pin as the variable, the optimization design of the model is carried out, and the positive performance test of the optimized model is carried out. It shows that the internal inclination of the main pin improves the steering performance of the crank slider steering mechanism. By using ADAMS virtual prototyping technology, the steering mechanism of forklift truck is designed, and the kinematics and dynamics curve of steering mechanism is obtained, which provides a method and data reference for the design and development of steering mechanism of forklift truck.
【学位授予单位】：太原科技大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TH242

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