剪刀式桥梁展桥机构铰点位置多目标优化设计
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摘要
阐述一种新型剪刀式桥梁展桥机构的工作原理。针对方案样机在架设初始状态时展桥机构驱动油缸小腔受力过大、引起间断液压油溢流问题,利用Denavit-Hatenberg齐次变换矩阵建立展桥机构的运动学和静力学模型。根据展桥机构驱动油缸闭锁力与驱动力不同的特点,提出确定剪刀式桥梁展桥机构关键铰点位置的多目标优化计算方法。对剪刀式桥梁方案样机展桥机构的关键铰点位置进行优化设计,利用机械系统动力学分析ADAMS软件进一步验证了优化计算模型。研究结果表明:优化后展桥油缸的最大拉力降幅达59. 5%,展桥油缸的受力分布趋于合理;所提出的展桥机构计算模型正确;优化方法具有收敛速度快、稳定性好等特点;展桥机构优化计算结果为方案样机改进提供了依据。
A new deployment mechanism of scissors-type mobile bridge is presented. For the intermittent hydraulic oil overflow in driving cylinder cavity of engineering prototype due to overload during initial deploying,an optimal method for improving the stress state of driving cylinder is proposed. The kinematics and statics models of deployment mechanism are established using Denavit-Hatenberg homogeneous transformation matrix. A multi-objective optimization model for designing the location of hinge point in deployment mechanism is constructed based on different characteristics of driving force and locking force of hydraulic cylinder. The key hinge point location of deployment mechanism was optimized for the engineering prototype,and the correctness of calculation model was proved by using ADAMS. The research result shows that the maximum pulling force of optimized hydraulic cylinder is reduced by 59. 5 percent,and the force distribution of hydraulic cylinder is significantly improved; the proposed calculation model is correct,and the optimization method has quick convergence speed and steady performance.
A new deployment mechanism of scissors-type mobile bridge is presented. For the intermittent hydraulic oil overflow in driving cylinder cavity of engineering prototype due to overload during initial deploying,an optimal method for improving the stress state of driving cylinder is proposed. The kinematics and statics models of deployment mechanism are established using Denavit-Hatenberg homogeneous transformation matrix. A multi-objective optimization model for designing the location of hinge point in deployment mechanism is constructed based on different characteristics of driving force and locking force of hydraulic cylinder. The key hinge point location of deployment mechanism was optimized for the engineering prototype,and the correctness of calculation model was proved by using ADAMS. The research result shows that the maximum pulling force of optimized hydraulic cylinder is reduced by 59. 5 percent,and the force distribution of hydraulic cylinder is significantly improved; the proposed calculation model is correct,and the optimization method has quick convergence speed and steady performance.
引文
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[2]江克斌,苟明康,王景全.我国移动钢桥技术研究进展[C]∥中国钢结构协会桥梁钢结构分会第五次学术年会论文集.南京:中国钢结构协会桥梁钢结构分会,2011:27-36.JIANG K B,GOU M K,WANG J Q. The prospect of the mobile steel bridge in China[C]∥Proceedings of the 5th Academic Annual meeting of Branch of Bridge Steel Structure of China Steel Construction Society. Nanjing:Branch of Bridge Steel Structure,China Steel Construction Society,2011:27-36.(in Chinese)
[3] CONNOR R C,DUNN I J. The move towards fully automated military bridging systems[J]. WIT Transactions on the Built Environment,2000,47:3-18.
[4]黎晖,钟小生,王彪,等.折叠桥梁机构架设轨迹优化自动控制仿真研究[J].计算机仿真,2017,34(8):18-21,49.LI H,ZHONG X S,WANG B,et al. Research on trajectory optimization and automatic control emulation of folding bridge mechanism[J].Computer Simulation,2017,34(8):18-21,49.(in Chinese)
[5]熊海贝,宋依洁.一种新型可展拱桥的探索[J].湖南大学学报(自然科学版),2018,45(1):19-25.XIONG H B,SONG Y J. Design and application of new deployable bridge[J]. Journal of Hunan University(Natural Sciences),2018,45(1):19-25.(in Chinese)
[6] CHIKAHIRO Y,ARIO I,PAWLOWSKI P,et al. Dynamics of the scissors-type mobile bridge[J]. Procedia Engineering,2017,199:2919-2924.
[7] CHIKAHIRO Y,ARIO I,NAKAZAWA M,et al. Experimental and numerical study of full-scale scissor type bridge[J]. Automation in Construction,2016,71:171-180.
[8] ALEGRIA M L,FILOMENO C R,THRAL A P,et al. Parametric evaluation of deployable scissor arches[J]. Engineering Structures,2015,99:479-491.
[9] THOMAS G R,SIA B J. A rapidly deployable bridge system[C]∥Proceedings of the 2013 Structures Congress. Pittsburgh,PA,US:American Society of Civil Engineers,2013:656-667.
[10]关富玲,周益君,况祺,等.一种轻型可展军用桥梁的设计与动力学分析[J].西南交通大学学报,2012,47(5):735-740,747.GUAN F L,ZHOU Y J,KUANG Q,et al. Design and dynamical analysis of new light deployable bridge[J]. Journal of Southwest Jiaotong University,2012,47(5):735-740,747.(in Chinese)
[11]朱鹏程,梁川,冯占辉,等.内置式军用剪刀桥梁展桥机构:201418000885. 6[P]. 2016-11-02.ZHU P C,LIANG C,FENG Z H,et al. Built-in deployable mechanism of military scissors type bridge:201418000885. 6[P]. 2016-11-02.(in Chinese)
[12] CRAIG J J.机器人学导论[M].贠超,李成群,陈心颐,等,译.第3版.北京:机械工业出版社,2006.CRAIG J J. Introduction to robotics:mechanics and control[M]. 3rd ed. YUN C,LI C Q,CHEN X Y,et al,translated.Beijing:China Machine Press,2006.(in Chinese)
[13]袁亚湘,孙文瑜.最优化理论与方法[M].北京:科学出版社,2001.YUAN Y X,SUN W Y. Optimization theories and methods[M]. Beijing:Science Press,2001.(in Chinese)
[14]郭晓宁,曾彬彬.基于ADAMS的挖掘机虚拟样机模型的建立[J].中国工程机械学报,2012,10(4):439-445.GUO X N,ZENG B B. ADAMS-based virtual prototyping for excavators[J]. Chinese Journal of Construction Machinery,2012,10(4):439-445.(in Chinese)
[15]罗自荣,苗少帅,张志雄,等.基于虚拟样机的导引头伺服机构谐振频率分析[J].兵工学报,2010,31(2):248-252.LUO Z R,MIAO S S,ZHANG Z X,et al. Analysis of resonance frequency for seeker servo based on virtual prototype[J]. Acta Armamentarii,2010,31(2):248-252.(in Chinese)