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为考虑偏载工况下举升四连杆自身柔性对整机稳定性的影响,利用刚柔耦合分析技术将有限元与多体动力学技术相结合,将履带式液压锚杆钻车四连杆举升机构进行了柔性化,并对柔性连接的刚度参数进行了详细的理论计算,据此建立了合理的整机动力学模型。计算结果表明,偏载工况下左右侧油缸力差值达到了107.8 kN,连杆柔性不可忽略。求解得到的锚杆钻车机构的运动学、动力学的性能参数,为各个部件的强度和耐久性分析提供了边界条件和预测数据。
In order to consider the influence of self-flexibility of four-link lifting four-bar under the partial load conditions on the stability of the complete machine, the rigid-flexible coupling analysis technology is used to combine the finite element and multi-body dynamics technology, The rod lifting mechanism is made flexible, and the stiffness parameters of the flexible connection are theoretically calculated in detail. Based on this, a reasonable whole-body dynamic model is established. The calculation results show that the force difference between left and right cylinders in partial load condition reaches 107.8 kN, and the link flexibility can not be neglected. Solving the kinematic and dynamic performance parameters of the drilling rig, the boundary conditions and the prediction data are provided for the strength and durability analysis of each component.