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《Journal of Machine Design》 2013-08
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Dynamic modeling and simulation analysis for rigid-flexible coupling model of coal sample manipulator

Li Rong-li He Li-le(School of Mechanical and Electrical Engineering,Xi'an University of Architecture and Technology,Xi'an 710055,China)  
Based on multi-body dynamics theory and the Lagrange equation,by considering the big arm,the forearm and telescopic arm of coal sample manipulator as the flexible arm,rigid and rigid-flexible coupling mode were respectively established by combining with Pro / E,ANSYS and ADAMS,the two motion models were analyzed in the same drive function,two model curves were gotten by simulation.The simulation results indicates that rigid-flexible coupling modeling is more actual when arm system is researched,it is very necessary to consider all the arm flexible deformation,thus theory basis was provided for sampling arm dynamic analysis and structure optimization.
【Fund】: 陕西省工业攻关资助项目(2012K10-10);; 道路施工技术与装备教育部重点实验室(长安大学)开放基金资助项目(201203)
【CateGory Index】: TP241
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