Kinematics And Dynamics Analysis And Simulation Of Ultra-High Pressure Water Jet Dismantle Boom

The technology of ultra-high pressure water jet has good application in many industries of our country, but engineering applications in dismantle concrete buildings was still in its infancy.At present, ultra-high pressure water jet dismantle equipment has developed relatively mature and has been applied well in foreign. Using ultra-high pressure water jet to dismantle and repair concrete buildings is the inevitable development trend for concrete buildings dismantling.Therefore, accelerating the research of domestic ultra-high pressure water jet dismantle equipment to promote the practical application of ultra-high pressure water jet dismantle equipment is necessary. Boom is the important actuator of ultra-high pressure water jet dismantle equipment, the structural forms, motion space and dynamic characteristics of the boom determine the performance of dismantle equipment, The main contents of this paper on the boom were as follows:1.Analysis the structure of the boom and calculate the degree of freedom of the boom.Drawing the schematic diagram and establishing the three-dimensional model of the boom mechanism. Analyzing dismantle parameters and three conditions which the boom was applied.The reaction force of ultra-high pressure water jet and the forces on boom were calculated.2.Based on the kinematics research, using D-H method to establish kinematics model of the boom. The boom kinematics equation was derived and verified it’s correctness by calculation and simulation. Respectively, workspace of the boom was portrayed through programming on MATLAB and the working space envelope diagram was drawn on ADAMS. Some parameters of the boom working space was determined.3.Lagrange’s energy method was used to establish the equations of multi-rigid-body dynamics of the boom, which was used to derive dynamic differential equation of the boom joints’ generalized moment(force). The rigid model of boom was established in ADAMS, which was used to finish dynamic simulation for the concrete top surface dismantle. The changes of force and drive torque of joints during the dismantle phase was obtained. Above works provided reference to analysis and optimization boom’s structural.4.The finite element model of boom was built by Workbench. Due to the reaction force of ultra-high pressure water jet during the dismantling process, Statics analysis and modal analysis for boom were performed to combined frame. Then the boom structure was optimized design which was based on the results. The optimization results show that the maximum stress and the stress concentration was significantly reduced, The strength of boom were strengthened,Simultaneously the deformation of boom was significantly reduced and the first inherent frequency increases obviously. The stiffness of boom were strengthened.From the apply occasions, dismantling effect and stability point of ultra-high pressure water jet dismantle equipment, the results of this study was important for excavate operational capability, improve operational efficiency and promote the practical application for ultra-high pressure water jet dismantle equipment.