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AMS kinematics analysis of rsc45 frontal crane

Abstract: This paper establishes the AMS kinematics analysis model of rsc45 frontal crane, considers four typical lifting positions and four lifting load conditions, and obtains the displacement, speed, acceleration and force curves of the pitching cylinder and telescopic cylinder with time, as well as the simulation curves of the binding force at the rotating hinge point of the base boom and the frame body with time, The results are compared with those calculated by finite element method using stran software

1. AMS model

rsc45 frontal crane is mainly composed of boom, frame body, front and rear tires, pitching cylinder, telescopic cylinder, cab, oil tank, steering system, hydraulic system, transmission system, spreader, etc. Its AMS geometric model is shown in Figure 1:

Figure 1 rsc45 frontal crane AMS motion analysis model

in which the coordinate system takes the midpoint of the connection between the boom and the frame as the coordinate origin, The horizontal extension direction of boom is x positive direction, and the vertical direction is y positive direction. Among them, the center of mass of the lifting weight (container) is offset by 0.8m from the Z axis

create constraint pair: according to the connection relationship of each component, create a cylindrical pair between the cylinder block and the piston rod of the front and rear pitching cylinders; Considering that the two pitching cylinders bear different forces when the weight is hoisted off track, the bushings are created between the piston rod of the pitching cylinder and the base arm, and between the base arm and the frame body respectively. The pneumatic force can be tested by setting the length (shipping); In addition, a translation pair is created between the basic arm and the telescopic arm to represent the movement of the telescopic cylinder; Create a rotating pair at the lifting point of the telescopic boom and the lifting object

create sensor: define sensor-1 as the stroke of the pitch cylinder, and its range is 0 ~ 2.78m; Sensor-2 is the stroke of telescopic oil cylinder, and its range is 0 ~ 7.07M; Sensor-3 refers to the pitching rotation angle of the boom, which ranges from 0 to 59.26

define motion: first create a vertical and upward linear motion motion-0 at the lifting point to meet the requirements of lifting speed of 0.25m/s. Through this kinematic pair, the motion curves of the pitching cylinder and the telescopic cylinder are obtained. Based on this curve, the cubic spline motion curve spline of the pitching cylinder and the telescopic cylinder is reverse calculated_ 1 and spline_ 2。 Apply motion-1 and motion-2 of two pitching cylinders as -cubspl (time, 0, spline_1, 0), and motion-3 of telescopic cylinder as -cubspl (time, 0, spline_2, 0). Finally, delete motion-0

2. Analyze working conditions

consider 4 different lifting load conditions at 4 different positions in 3 rows, as shown in Figure 2

Figure 2 rsc45 front crane position and load conditions

the position and lifting load under various working conditions are in shortage in the market, and the parameters of the telescopic cylinder are shown in Table 2 below. Table 2 data sheet of the working conditions of the crane between the front lifting and pushing into the next clamping device

3, AMS results and comparative analysis with the finite element results

3.1 AMS analysis results

AMS kinematic simulation is carried out for the above four different working conditions, and the displacement, speed, acceleration and force curves of the two pitching cylinders and telescopic cylinders are obtained at any time; The time-dependent curve of the binding force at the rotating hinge point of the basic arm and the frame body is obtained. Figures 3 ~ 8 show the simulation curve of the process of lifting 45 tons to position 1

Figure 3 displacement change curve of pitching cylinder and telescopic cylinder

Figure 4 velocity change curve of pitching cylinder and telescopic cylinder

Figure 5 acceleration change curve of pitching cylinder

Figure 6 acceleration change curve of telescopic cylinder

Figure 7 force change curve of two pitching cylinders and telescopic cylinder

figure 8 time varying curve of binding force at the rotating hinge point of basic arm and frame body

3.2 this project not only makes up for aluminum The blank of alloy in chassis utilization and the comparative analysis of finite element results

when lifting to four position points, the AMS analysis results of the hinge point between the basic arm and the frame body, the force of the pitching cylinder and the telescopic cylinder and the comparative analysis of the finite element calculation results of strand are shown in Table 3 below

Table 3 Comparison and analysis table of AMS and strand results

4. Conclusion

the following conclusions can be obtained through simulation analysis

4.1 using AMS kinematics analysis, we can get the parameter curve of the front crane in the whole movement process, including displacement, speed, acceleration, force, etc

4.2 the finite element calculation under various typical working conditions such as lifting a certain lifting load to a certain position by strand, and the comparative analysis with AMS simulation results, the relative error is between 0.19% and 8.88%, which can verify the correctness of AMS simulation results

4.3 can provide a theoretical basis for the design of the front crane, especially for the design of the pitching cylinder, telescopic cylinder and boom. (end)

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