本文選題：多體動力學(xué)　切入點(diǎn)：曲柄滑塊　出處：《太原科技大學(xué)》2013年碩士論文

【摘要】：本文以某型3T叉車為原型，以動力學(xué)軟件ADAMS為依托，對曲柄滑塊式轉(zhuǎn)向機(jī)構(gòu)進(jìn)行運(yùn)動學(xué)以及動力學(xué)仿真分析，，并對曲柄滑塊式轉(zhuǎn)向機(jī)構(gòu)存在車輪外傾角與主銷內(nèi)傾角時(shí)的轉(zhuǎn)向特性，進(jìn)行動力學(xué)仿真分析與驗(yàn)證。 本文首先根據(jù)剛體動力學(xué)基本理論，對叉車的曲柄滑塊轉(zhuǎn)向機(jī)構(gòu)進(jìn)行運(yùn)動學(xué)和動力學(xué)分析，然后根據(jù)多柔體動力學(xué)理論，建立了轉(zhuǎn)向輪胎的運(yùn)動學(xué)、靜力學(xué)以及動力學(xué)方程。對叉車轉(zhuǎn)向定位角進(jìn)行了分析，當(dāng)車輪外傾角與主銷內(nèi)傾角存在時(shí)，建立了適用于叉車的轉(zhuǎn)向力矩?cái)?shù)學(xué)模型。利用Pro/E3.0建立了叉車轉(zhuǎn)向系統(tǒng)的簡化模型，并利用MECHANISM/Pro模塊實(shí)現(xiàn)從Pro/E3.0到ADAMS的圖形數(shù)據(jù)無縫傳輸，并通過在ADAMS中建立輪胎與路面文件，完成叉車虛擬樣機(jī)模型的構(gòu)建。在ADAMS中對樣機(jī)模型添加約束與驅(qū)動，對叉車曲柄滑塊轉(zhuǎn)向機(jī)構(gòu)進(jìn)行仿真，以外輪轉(zhuǎn)角平均誤差最小為目標(biāo)，轉(zhuǎn)向節(jié)臂長、轉(zhuǎn)向節(jié)臂初始角、連桿長度、液壓缸偏距為變量，完成了對機(jī)構(gòu)的優(yōu)化。在ADAMS中，通過實(shí)驗(yàn)分析研究了轉(zhuǎn)向機(jī)構(gòu)中的回正力矩、回正阻力矩以及液壓缸活塞桿產(chǎn)生的推力矩隨主銷內(nèi)傾角的變化情況，說明了建立的力矩?cái)?shù)學(xué)模型是正確的。以液壓缸活塞桿產(chǎn)生的平均推力矩最小為目標(biāo)，主銷內(nèi)傾角為變量，對模型進(jìn)行優(yōu)化設(shè)計(jì)，并對優(yōu)化后的模型進(jìn)行了回正性能試驗(yàn)，說明主銷內(nèi)傾角的存在改善了曲柄滑塊轉(zhuǎn)向機(jī)構(gòu)的轉(zhuǎn)向性能。 利用ADAMS虛擬樣機(jī)技術(shù)，對叉車轉(zhuǎn)向機(jī)構(gòu)進(jìn)行設(shè)計(jì)，得到轉(zhuǎn)向機(jī)構(gòu)相關(guān)的運(yùn)動學(xué)與動力學(xué)數(shù)據(jù)曲線圖，為叉車轉(zhuǎn)向機(jī)構(gòu)的設(shè)計(jì)研發(fā)提供方法與數(shù)據(jù)參考。
[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.
【學(xué)位授予單位】：太原科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2013
【分類號】：TH242

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