Modeling and Simulation for Flexible Arm System of Concrete Pump Truck
The concrete pump truck is a kind of engineering machine consists of the concrete pump and the special truck chassis.It is welcomed by architecture enterprises because the concrete pump truck integrates pouring and distributing process and is convenient to operate.However,the application condition is quite complicated and the arm system is a typical redundant machine,so the application is limited.In this article,the arms are supposed to be equal-section Euler beams,and the elastic distortion of any point on the arm is expressed by the Shape Function.Then based on the recursion formula of flexible multi-body dynamics,the movement of the arm system and the hydraulic driving system are both analyzed,the kinetic energy and the potential energy functions are deduced.Furthermore,the flexible multi-body dynamic equation is built by means of the Lagrange Equation and the Virtual Work Theory.With MEBDFDAE,the dynamic equation is solved,and the influence from the flexible distortion to the arm rotation angle,velocity,driving torque of the hydraulic cylinder and the track of the arm end are all analyzed,which proves that it is very important to consider the flexible distortion when study the light and long arm system.
flexible multi-body dynamics Shape Function arm concrete pump truck.
Dai Li Wang Jian Li Yungong Liu Jie
School of Mechanical Engineering and Automation,Northeasten University,Shenyang,China
国际会议
International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)
上海
英文
2008-06-29（万方平台首次上网日期，不代表论文的发表时间）