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为研究混凝土泵车臂的动力学分析,本文以多体运动学理论为基础建立了混凝土泵车臂多体运动学模型,分析了泵车臂的正向运动学、逆向运动学以及雅可比矩阵,根据泵车臂的雅可比矩阵能够准确反映出每个关节和泵车臂末端的空间轨迹以及速度、加速度.然后用Matlab/Simulink建立动力学仿真,了解泵车臂的实际运动和受力情况的变化规律,求解出其运动参数和动力特性.这对于实现混凝土泵车自动快速浇注混凝土,提高产品性能具有重要意义.
In order to study the dynamics analysis of concrete pump arm, the multi-body kinematics model of concrete pump arm is established based on multi-body kinematics theory. The forward kinematics, inverse kinematics and Jacobian matrix of pump arm are analyzed. , According to the Jacobian matrix of the pump arm can accurately reflect the spatial trajectory and velocity and acceleration of the end of each joint and pump arm.And then use Matlab / Simulink to establish dynamic simulation to understand the actual movement and force of the pump arm Of the law of variation, to solve its kinematic parameters and dynamic characteristics of concrete pump for the realization of rapid and rapid concrete pouring, improve product performance is of great significance.