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Dynamic modelling of 2-DOF luffing mechanism with serial closed kinematic chains

串联多闭链二自由度变幅机构的动力学建模

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Abstract

Luffing mechanism is a key component of the construction machinery. This paper proposes a two degree of freedom (2-DOF) luffing mechanism, which has one more pair of driving cylinders than the single DOF luffing mechanism, to improve the performance of the machinery. To establish the dynamic model of the 2-DOF luffing mechanism, firstly, we develop a hierarchical method to deduce the Jacobian matrix and Hessian matrix for obtaining the kinematics equations. Subsequently, we divide the luffing mechanism into six bodies considering actuators, and deduce the kinetic equations of each body by the Newton-Euler method. Based on the dynamic model, we simulate the luffing process. Finally, a prototype is built on a pile driver to validate the model. Simulations and experiments show that the dynamic model can reflect the dynamic properties of the proposed luffing mechanism. And the control strategy that the front cylinders retract first shows better mechanical behavior than the other two control strategies. This research provides a reference for the design and application of 2-DOF luffing mechanism on construction machinery. The modeling approach can also be applied to similar mechanism with serial closed kinematic chains, which allows to calculate the dynamic parameters easily and exactly.

摘要

变幅机构是工程机械的关键部件。不同于单自由度变幅机构, 本文设计了一种两组液压缸驱动 的二自由度变幅机构以提高变幅性能。为了建立该机构的动力学模型, 首先, 提出层次化方法推导出 雅可比矩阵和海森矩阵, 继而得到运动学方程。然后, 考虑驱动器将该机构拆分成6 个刚体, 并采用 牛顿欧拉法求得动力学方程, 基于动力学模型对变幅过程进行仿真分析。最后, 在桩架平台上搭建样 机模型。仿真和试验研究表明, 动力学模型能准确地反映该变幅机构的动力学特性。前液压缸先收缩 再后液压缸收缩的控制策略较另外两种控制策略具有更优的力学性能。本文可指导二自由度变幅机构 在工程机械上的设计及应用。该建模方法可应用于类似串连多闭链结构, 以准确快速地推导动力学模 型。

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Authors and Affiliations

  1. State Key Laboratory of High Performance Complex Manufacturing, Central South University, Changsha, 410083, China

    Zhen-xin Zhu  (朱振新) & Jian-xin Zhu  (朱建新)

  2. College of Engineering and Design, Hunan Normal University, Changsha, 410081, China

    Hui-mei Kang  (康辉梅)

  3. The National Enterprise R&D Center, Sunward Intelligent Equipment Co. Ltd., Changsha, 410100, China

    Huan-yun Qian  (钱奂云)

Authors
  1. Zhen-xin Zhu  (朱振新)
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  2. Jian-xin Zhu  (朱建新)
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  3. Hui-mei Kang  (康辉梅)
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  4. Huan-yun Qian  (钱奂云)
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Contributions

The overarching research goals were developed by ZHU Zhen-xin and ZHU Jian-xin. ZHU Zhen-xin, ZHU Jian-xin and QIAN Huan-yun assembled the prototype, organized the test, and analyzed the measured data. ZHU Zhen-xin and KANG Hui-mei established the models, calculated the predicted force, and analyzed the calculated results. The initial draft of the manuscript was written by ZHU Zhen-xin, ZHU Jian-xin, and KANG Hui-mei. All authors replied to reviewers’ comments and revised the final version.

Corresponding author

Correspondence to Jian-xin Zhu  (朱建新).

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Conflict of interest

ZHU Zhen-xin, ZHU Jian-xin, KANG Hui-mei, and QIAN Huan-yun declare that they have no conflict of interest.

Foundation item

Project(2015B020238014) supported by the Science and Technology Program of Guangdong Province, China

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Zhu, Zx., Zhu, Jx., Kang, Hm. et al. Dynamic modelling of 2-DOF luffing mechanism with serial closed kinematic chains. J. Cent. South Univ. 28, 168–178 (2021). https://doi.org/10.1007/s11771-021-4594-0

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  • DOI: https://doi.org/10.1007/s11771-021-4594-0

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