关键词: 泵车臂架, 柔性模型, 末端位移, 计算机仿真, 运动学

Abstract: Mobile concrete pump boom is typical nonlinear flexible multibody structure. The rigid-flexible coupling between booms and linkages makes the boom tip trajectory prediction and dynamics solution more difficult. The modal reduction techniques is adopted to establish the rigid-flexible model, further more virtual spring-damper method is used to substitute the hydraulic cylinder. Then the nonlinear kinematics and dynamics research of the flexible booms, linkages, joints of the model is simulated. Influence of flexible booms and equivalent hydraulic cylinder spring damper to the end of tip displacement is done. In the end an experiment is done to validate the proposed model, which provides virtual prototype design, accurate vibration control and trajectory prediction for such structure.

Key words: mobile concrete pump boom, flexible model, tip displacement, computer simulation, kinematics