Structure and dynamics analysis of special manipulator frame for replacing wire rope of electric shovel

doi:10.3785/j.issn.1006-754X.2023.00.068

Chin J Eng Design

2023, Vol. 30

Issue (5): 590-600 DOI: 10.3785/j.issn.1006-754X.2023.00.068

Machinery System Dynamics

Structure and dynamics analysis of special manipulator frame for replacing wire rope of electric shovel

Hongyue CHEN(

),Minghang CAI(

),Xinwei YANG,Zhonghuan DAI

School of Mechanical Engineering, Liaoning Technical University, Fuxin 123000, China

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Abstract

In response to the problem of low efficiency in replacing the wire rope of electric shovel, a manipulator frame used to replace wire rope was designed. The dynamic model of the manipulator frame was established taking the gravity of the wire rope extracted by the end effector of the manipulator frame as the main acting load. Using finite element analysis method, multi-body dynamic analysis method and the "spring-rotor" model, the rigid flexible coupling dynamic analysis was conducted on the arm and main hinge joints. The influence of different joint stiffness on the dynamic characteristics of the end effector was studied, and the optimal stiffness of each joint was selected based on the simulation results to further analyze the influence on joint angular displacement and end effector displacement with/without wire rope action. The results showed that as the stiffness coefficient of the joint increased, the deviation between the joint angular displacement and that in the state of full rigid body without wire rope action gradually decreased, and the end effector displacement gradually approached that in the state of full rigid body without wire rope action; the stiffness of the hinge joint between the telescopic forearm and the curved arm had the greatest influence on the end effector displacement; after selecting the optimal stiffness coefficient for each joint, the angular displacement deviation of the hinge joint between the telescopic mechanism and the turntable was the smallest with wire rope action. The vibration amplitude of the manipulator frame without wire rope action was higher than that with wire rope action. The research results provide a reference for the study of the stability and motion accuracy control of the manipulator frame.

Key words： manipulator frame wire rope dynamics displacement deviation

Received: 14 March 2023 Published: 03 November 2023

CLC:

TH 213.6

Corresponding Authors: Minghang CAI E-mail: chyxiaobao@126.com;2875349857@qq.com

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Cite this article:

Hongyue CHEN,Minghang CAI,Xinwei YANG,Zhonghuan DAI. Structure and dynamics analysis of special manipulator frame for replacing wire rope of electric shovel. Chin J Eng Design, 2023, 30(5): 590-600.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2023.00.068 OR https://www.zjujournals.com/gcsjxb/Y2023/V30/I5/590

更换电铲钢丝绳专用机械臂架的结构及动力学分析

针对电铲钢丝绳更换效率低下的问题，设计了一种用来更换电铲钢丝绳的机械臂架。以机械臂架末端执行器提取的钢丝绳重力为主要作用载荷，建立了机械臂架动力学模型。利用有限元分析方法、多体动力学分析方法及“弹簧-转子”模型，对臂杆及主要铰接关节进行刚柔耦合动力学分析，研究不同关节刚度对末端执行器动态特性的影响，并根据仿真结果选取各关节较优的刚度，来进一步分析有/无钢丝绳作用对关节角位移和末端执行器位移的影响。结果表明：随着关节刚度系数的增大，关节角位移与全刚体无钢丝绳状态下的偏差逐渐减小，末端执行器的位移逐渐趋近于全刚体无钢丝绳状态；伸缩小臂与弧形臂铰接关节的刚度对末端执行器位移的影响最大；在选取各关节较优的刚度系数后，在钢丝绳作用下伸缩机构与转台铰接关节产生的角位移偏差最小，在无钢丝绳作用下机械臂架的振动幅度大于有钢丝绳作用时。研究结果为机械臂架工作稳定性及运动精度控制研究提供了参考。

关键词： 机械臂架, 钢丝绳, 动力学, 位移偏差

Fig.1 Structure of manipulator frame

Fig.2 Section of telescopic boom of manipulator frame

Fig.3 Distribution of sliders

Fig.4 Structure of replacement mechanism

Table 1 Description of constraints for kinematic pair of manipulator frame

Fig.5 End effector displacement in the state of complete rigid body without wire rope

Fig.6 Joint angular displacement in the state of full rigid body without wire rope

Fig.7 Force model of small ball

Table 2 Contact parameters between wire rope and wheel

Table 3 Parameters of wire rope

Fig.8 Wire rope buckling wheel

Fig.9 Wire rope conveying

Fig.10 Tension change of wire rope

Fig.11 Rigid area connection of telescopic forearm 1

Fig.12 End effector displacement after flexing the telescopic forearm

Fig.13 Displacement deviation of end effector

Fig.14 Schematic diagram of manipulator frame coordinate system

Fig.15 Angular displacement of flexible rod joints

Table 4 Joint constraints

Fig.16 Flow of joint flexible treatment

Fig.17 Influence of joint A stiffness on end effector displacement

Fig.18 Influence of joint B stiffness on end effector displacement

Fig.19 Influence of joint C stiffness on end effector displacement

Fig.20 Influence on joint angular displacement with/without wire rope action

Fig.21 Influence on end effector displacement deviation with/without wire rope action


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