Analysis Of Coupled Rigid-flexible Dynamic System To Mechanical Armed Excavator Based On Three Degrees Of Freedom

Robotic arm as a 3-DOF planar Redundant manipulator, is widely used in antenna systems of satellite space station, high-speed vehicle operating system configuration, and operation of the robot arm to complete the job and excavator mining tasks. As the main force member, its performance directly determines the success or failure to complete a task, and requires high-speed, accurate operation and can work in harsh environments, the configuration of the system also raised new demands. Through dynamic analysis on the manipulator to provide foundations for products upgrading,new products development,development costs reduction and shortened development cycle.In this paper, 23 t hydraulic excavator arm, for example, by simplifying complex models using relative Cartesian coordinates method to establish the mathematical model of manipulating excavator system with three degrees of freedom,dynamic equations and constraint equations. the establishment of full-scale mock-up of manipulating apparatus through three-dimensional modeling software and simulation process of coupled rigid-flexible system to virtual prototype, and then combined with the finite element software Ansys and multi-body dynamics software RecurDyn the entire manipulating apparatus is computed numerically.The results include two parts: the first part is the rigid body dynamics analysis, the displacements, velocities and accelerations of the large arm,dipper and bucket as main force members and joint forces of hinges connected to individual components which vary according to time space are obtained. The second part is dynamics analysis to coupled rigid-flexible system by means of hybrid coordinate method for establishing the dynamic flexible body model of the large arm.In the case of elastic deformations, stresses and displacements curves with time variance of pinholes connected to large arm as flexible body, and stresses and displacements cloud nephograms for large arm at time when subjected to maximum force conditions.Through dynamics analysis to coupled rigid-flexible system of mechanical armed excavator, force variance of manipulating apparatus components for its movements can be depicted as more apparent, possible problems within assessment and speculation are carried out, and results gained in study prevail in engineering stacks.