Research on the rigid-flexible multibody dynamics of concrete placing boom

被引：1
|
作者：
Zhang, Z. W. [1 ,2 ]
Wu, Y. X. [1 ,2 ]
Liu, J. G. [3 ]
Ren, W. [1 ,2 ]
Cao, M. H. [1 ,2 ]
机构：
[1] State Key Lab High Performance Complex Mfg, Changsha 410083, Hunan, Peoples R China
[2] Cent South Univ, Coll Mech & Elect Engn, Changsha 410083, Hunan, Peoples R China
[3] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 100016, Peoples R China
来源：
AUTOMATION IN CONSTRUCTION | 2016年 / 67卷
关键词：
Concrete placing boom; Substructure method; Discrete time transfer matrix method; Rigid-flexible multibody dynamics; TRANSFER-MATRIX METHOD; TIME;
D O I：
10.1016/j.autcon.2016.03.009
中图分类号：
TU [建筑科学];
学科分类号：
0813 ;
摘要：
A method is proposed for rigid-flexible multibody dynamic modeling of concrete placing booms, to improve the calculation efficiency and ensure the accuracy. Concrete placing booms consist of four types of substructures, according to the slender rods and the mechanism features. The transfer matrixes of substructures are derived based on the discrete time transfer matrix method. Then, the manipulator's overall transfer matrix is assembled and used for the numerical calculation. An experiment based on a test rig is performed to validate the proposed method, and a model based on ADAMS (short of MSC.ADAMS) is also established to compare the calculating efficiency of the proposed method. (C) 2016 Elsevier B.V. All rights reserved.
引用
收藏
页码：22 / 30
页数：9
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