Modelowanie dynamiki i symulacja ruchu maszyn manipulacyjnych

W pracy przeprowadzono analizę kinematyczną (met. macierzowa) i dynamiczną (met. równań Lagrange'a II rodzaju) łańcucha kinematycznego z pięcioma parami obrotowymi na przykładzie ładowacza Troll-350. Rozwiązano zadania proste i odwrotne kinematyki i dynamiki. Drogą symulacji komputerowej, określono funkcyjne przebiegi kinematycznych i dynamicznych parametrów ruchu.

This paper presents the kinematic and dynamic analysis of the spatial open kinematic chain on the example of the loader Troll-350. Kinematic analysis was based on a matrix method. Values of relative angular displacements in pairs of lower and higher rotating amis were found from the giving the point opposite. Time courses of the kinematic parameters in flexible links were obtained from the assumed law of motion, while the relative movement was described by velocity laws - trapezoid or sinusoidal. Kinematic parameters of catcher's swinging motion were obtained by solving dynamics equations. A model of dynamics was built on the basis of Lagrange equation of the II kind, in which the following were considered: geometry, construction limits, mass distribution, and damping of the free vibration movement. However, kinetic energy of servo-motors, drive flexibility, and bending flexibility. To integrate equations of motion, the Runge-Kutta method of the fourth order was used. The values of generated displacement angles of the catcher's swinging motion, obtained from integrals, were used to calculate dynamic loads. Function courses of kinematic and dynamic motion parameters were determined through computer simulation.