基于ADAMS建立了掘进机整机虚拟样机模型,在验证了采用多刚体动力学对叉形架进行分析有失合理性后,对系统进行了刚柔耦合动力学仿真,仿真结果与实际较吻合。该方法为叉形架动力学行为的研究提供了一条可行的途径,并可为后序叉形架的结构分析及优化奠定基础。 Based on ADAMS, the whole tunneling machine virtual prototype model is established. After verifying the rational analysis of the fork frame using multi-rigid body dynamics, the system is subjected to the rigid-flexible coupling dynamics simulation. The simulation results are in good agreement with the actual ones. This method provides a feasible approach for the study of the dynamic behavior of the yoke, and lays the foundation for structural analysis and optimization of the yoke.