CN105224746B - Pulley based on Adams softwares --- the analogy method of rope type objects - Google Patents
Pulley based on Adams softwares --- the analogy method of rope type objects Download PDFInfo
- Publication number
- CN105224746B CN105224746B CN201510643044.0A CN201510643044A CN105224746B CN 105224746 B CN105224746 B CN 105224746B CN 201510643044 A CN201510643044 A CN 201510643044A CN 105224746 B CN105224746 B CN 105224746B
- Authority
- CN
- China
- Prior art keywords
- cylinder
- straight line
- established
- moved along
- rope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The present invention provides a kind of pulleys based on Adams softwares --- the analogy method of rope type objects, including：Straight line OA is established, revolute rot1 is set, straight line OA is made to be rotated in XOY plane around center of circle O；Straight line AB is established, revolute rot2 is set, makes straight line AB around A points in YOZ rotation in surface；Straight line AC is established, prismatic pair tran1 is set, straight line AC is made to be moved along straight line AB；Cylinder D1, D2 are established, prismatic pair tran2, tran3 are set, cylinder D1 is made to be moved along straight line AC, cylinder D2 is made to be moved along straight line AC；Contact is set between cylinder D1 and cylinder D2；Cylinder D3, D4 are established, setting fixed joint fix1, prismatic pair tran4 fix cylinder D3 and cylinder D1, cylinder D4 made to be moved along straight line AC；Concentrated force Force1 is set between cylinder D3 and cylinder D4；Cylinder D5 is established, fixed joint fix2 is set, fixes cylinder D5 and straight line AC, concentrated force Force2 is set on cylinder D5.This invention ensures that model accuracy, improves computational efficiency.
Description
Technical field
The present invention relates to mechanical system dynamical simulation technical field more particularly to a kind of cunnings based on Adams softwares
Wheel --- the analogy method of rope type objects.
Background technology
Mechanical system dynamical simulation analysis software Adams (the Automatic Dynamic Analysis of MSC companies of the U.S.
Of Mechanical Systems, machinery system dynamics automatically analyze) it is integrated moulding, solves, visualization technique one
Motion simulation software is that use scope is most wide on our times, most well-known machinery system dynamics Simulation Platform.With
Application and development of the Virtual Prototype Technique in mechanical engineering field, Adams be successfully applied to aerospace, automobile engineering,
The fields such as rolling stock, industrial machinery, engineering machinery.Adams is based on calculating dynamics of multibody systems, comprising multiple special
The Development of Virtual Prototype system software of industry module and professional domain, using it can set up complex mechanical system kinematics and
Kinetic model, model can be rigid body, can also be flexible body and hard and soft mixed model.
Pulley --- rope mechanism is usually widely used in mechanical system, for transmitting power and displacement.In Adams softwares
In there is no a tool of this kind of large deformation object Direct Modeling directly to rope, the method used at present be rope is separated into it is several
Section small cylinder, when each segment cylinder entire rope lengths very little relatively, rope just can be considered non-individual body；Each segment cylinder
It is connected between body with axle sleeve power, embodies the firm of rope by defining tension and compression and torsion stiffness and the damping parameter of axle sleeve power
Spend coefficient and damped coefficient；By the way that rope is separated into a section small cylinder, pulley etc. can be bypassed and do certain curve fortune
It is dynamic, add contact force between each small cylinder and pulley.When rope be separated into small cylinder quantity it is enough when, can be more true
Stretch bending and the slip on pulley for reflecting rope on the spot etc..
In existing Adams this pulley --- rope model, calculation amount is very huge, and wherein contains very more
Nonlinear contact, be easy to cause calculating and do not restrain and the problems such as calculating speed is excessively slow, be not suitable for the pulley of simulation ---
The situation that there are many tethered system quantity or rope is very long.In addition rope type objects path is typically wound on pulley,
It is directly modeled in Adams softwares also relatively complicated.
Invention content
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of pulley based on Adams softwares --- rope
The analogy method of rope type objects establishes pulley in Adams softwares --- and rope model is simulated by using mathematical relationship and described
Movement relation and stress relationship between rope and pulley, and solve the problems, such as the winding of rope and pulley.
To achieve the above object, the present invention provides a kind of pulleys based on Adams softwares --- the mould of rope type objects
Plan method, includes the following steps：
Step 1：Straight line OA is established, and revolute rot1 is set, straight line OA is made to be rotated in XOY plane around center of circle O；
Step 2：Straight line AB is established, and revolute rot2 is set, makes straight line AB around A points in YOZ rotation in surface；
Step 3：Straight line AC is established, and prismatic pair tran1 is set, straight line AC is made to be moved along straight line AB；
Step 4：Cylinder D1 is established, and prismatic pair tran2 is set, cylinder D1 is made to be moved along straight line AC；Establish cylinder
Body D2, and prismatic pair tran3 is set, cylinder D2 is made to be moved along straight line AC；It sets and connects between cylinder D1 and cylinder D2
It touches；
Step 5：Cylinder D3 is established, and fixed joint fix1 is set, fixes cylinder D3 and cylinder D1；Establish cylinder
Body D4, and prismatic pair tran4 is set, cylinder D4 is made to be moved along straight line AC；Collection is set between cylinder D3 and cylinder D4
Middle power Force1；
Step 6：Cylinder D5 is established, and fixed joint fix2 is set, fixes cylinder D5 and straight line AC；In cylinder D5
Upper setting concentrated force Force2.
Compared with prior art, the beneficial effects of the invention are as follows：For with pulley --- the difference machinery of rope mechanism
System can analyze movement and the mechanical characteristic of its whole and each mechanism, fully consider that the flexible deformation of steel wire rope, weight turn
Shifting and the influence factor of relaxation tensioning, can ensure the accuracy of simulation, and simplify modeling method, improve calculating and imitate
Rate.
Description of the drawings
Fig. 1 is pulley --- the rope model schematic diagram of the present invention；
Fig. 2 is pulley --- the rope mechanism schematic diagram of one embodiment of the invention.
Specific embodiment
The present invention is described in detail for shown each embodiment below in conjunction with the accompanying drawings, but it should explanation, these
Embodiment is not limitation of the present invention, those of ordinary skill in the art according to these embodiment institute work energy, method,
Or equivalent transformation or replacement in structure, all belong to the scope of protection of the present invention within.
As shown in FIG. 1, FIG. 1 is pulley --- the rope model schematic diagrames of the present invention.
Present embodiments provide a kind of pulley based on Adams softwares --- the analogy method of rope type objects is specific to walk
It is rapid as follows：
Step 1：Straight line OA is established, and revolute rot1 is set, straight line OA is made to be rotated in XOY plane around center of circle O.Pass through
This step so that rope can be swung in XOY plane.
Step 2：Straight line AB is established, and revolute rot2 is set, makes straight line AB around A points in YOZ rotation in surface.Pass through this
Step so that rope can be swung in YOZ planes.
Step 3：Straight line AC is established, and prismatic pair tran1 is set, straight line AC is made to be moved along straight line AB.By this step, make
Shortening can be extended by obtaining rope.
Step 4：Cylinder D1 is established, and prismatic pair tran2 is set, cylinder D1 is made to be moved along straight line AC；Establish cylinder
Body D2, and prismatic pair tran3 is set, cylinder D2 is made to be moved along straight line AC；It sets and connects between cylinder D1 and cylinder D2
It touches.By this step, the situation of line relaxation is simulated.
Step 5：Cylinder D3 is established, and fixed joint fix1 is set, fixes cylinder D3 and cylinder D1；Establish cylinder
Body D4, and prismatic pair tran4 is set, cylinder D4 is made to be moved along straight line AC；Collection is set between cylinder D3 and cylinder D4
Middle power Force1.By this step, the flexible deformation of rope is simulated.
Step 6：Cylinder D5 is established, and fixed joint fix2 is set, fixes cylinder D5 and straight line AC；In cylinder D5
Upper setting concentrated force Force2.By this step, the weight transfer of rope is simulated.
Pulley provided in this embodiment --- the analogy method of rope type objects, can analyze mechanical system movement and by
Force characteristic has fully considered flexible deformation, weight transfer and the influence factor of relaxation tensioning of steel wire rope, can ensure to simulate
Accuracy, and simplify modeling method, improve computational efficiency.
The present invention is described in further detail below by specific example.
This example is simulated for the dynamic characteristics of a certain large scale ship mechanical system, and ship lift generally comprises many groups and slides
Wheel-rope member (as shown in Figure 2), and rope is answered up to tens meters under existing design conditions using Adams softwares
With discrete-time epidemic model pulley --- rope is almost difficult to complete, this example pulley using the present invention --- rope analogy side
Method is simulated to carry out the dynamic characteristics of ship lift system, includes the following steps：
1) mechanical models such as ship reception chamber, balance weight, mechanical synchronization system, guidance system are established, and according between them
Movement and stress transitive relation establish ship lift system integral power simulation model；
2) pulley-rope model is established respectively between mechanical synchronization system reel and balance weight, reel and ship reception chamber
(according to the method for above-mentioned steps 1- steps 6).
3) according to ship elevator parameter, numerical simulation is carried out to ship lift system dynamic characteristic respectively, obtains ship lift
System ship reception chamber, synchronizing shaft, the movement of guidance system and mechanical characteristic.
Using above-mentioned pulley-rope model method in Adams softwares, to this ship lift system dynamics numerical value
It is as follows to simulate achievement：
(1) ship lift system maximum antidumping rigidity be 360960kN.m/deg, be in ship reception chamber water body generate topple
6.86 times of rigidity, ship lift system can keep stable；
(2) during ship elevator, ship reception chamber maximum vertical equity deviation is 13.02mm, suffered by synchronization system most
Large torque is 61.22kN.m, and peak load suffered by guidance system is 591.19kN.
This implementation passes through the cunning using above-mentioned steps 1-6 in the simulation of the dynamic characteristics of large scale ship mechanical system
Wheel --- rope analogy method can analyze movement and the mechanical characteristic of mechanical system, and this method has fully considered steel wire rope
The influence factor of flexible deformation, weight transfer and relaxation tensioning, can ensure the accuracy of simulation, and simplify modeling side
Method improves computational efficiency.
Those listed above is a series of to be described in detail only for feasibility embodiment of the invention specifically
Bright, they are not to limit the scope of the invention, all equivalent implementations made without departing from skill spirit of the present invention
Or change should all be included in the protection scope of the present invention.
It is obvious to a person skilled in the art that the present invention is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requirement rather than above description limit, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.
Claims (1)
1. a kind of pulley based on Adams softwares --- the analogy method of rope type objects, which is characterized in that including following step
Suddenly：
Step 1：Straight line OA is established, and revolute rot1 is set, straight line OA is made to be rotated in XOY plane around center of circle O；
Step 2：Straight line AB is established, and revolute rot2 is set, makes straight line AB around A points in YOZ rotation in surface；
Step 3：Straight line AC is established, and prismatic pair tran1 is set, straight line AC is made to be moved along straight line AB；
Step 4：Cylinder D1 is established, and prismatic pair tran2 is set, cylinder D1 is made to be moved along straight line AC；Cylinder D2 is established,
And prismatic pair tran3 is set, cylinder D2 is made to be moved along straight line AC；Contact is set between cylinder D1 and cylinder D2；
Step 5：Cylinder D3 is established, and fixed joint fix1 is set, fixes cylinder D3 and cylinder D1；Establish cylinder
D4, and prismatic pair tran4 is set, cylinder D4 is made to be moved along straight line AC；It sets and concentrates between cylinder D3 and cylinder D4
Power Force1；
Step 6：Cylinder D5 is established, and fixed joint fix2 is set, fixes cylinder D5 and straight line AC；It is set on cylinder D5
Put concentrated force Force2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510643044.0A CN105224746B (en) | 2015-10-01 | 2015-10-01 | Pulley based on Adams softwares --- the analogy method of rope type objects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510643044.0A CN105224746B (en) | 2015-10-01 | 2015-10-01 | Pulley based on Adams softwares --- the analogy method of rope type objects |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105224746A CN105224746A (en) | 2016-01-06 |
| CN105224746B true CN105224746B (en) | 2018-07-03 |
Family
ID=54993712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510643044.0A Active CN105224746B (en) | 2015-10-01 | 2015-10-01 | Pulley based on Adams softwares --- the analogy method of rope type objects |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105224746B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106055749A (en) * | 2016-05-20 | 2016-10-26 | 哈尔滨工业大学（威海） | Method for increasing motion stability of link mechanism with clearance |
| CN106066908A (en) * | 2016-05-27 | 2016-11-02 | 哈尔滨工业大学（威海） | A kind of method improved containing gap satellite antenna drive mechanism kinetic stability |
| CN107545126B (en) * | 2017-09-28 | 2019-11-26 | 大连理工大学 | A kind of gathering tension integral structure dynamic response analysis method based on multi-body system sliding rope unit |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101798848A (en) * | 2010-03-05 | 2010-08-11 | 北京纽曼帝莱蒙膜建筑技术有限公司 | Method for dynamically simulating construction of tension structure by using mechanical movement simulation model |
-
2015
- 2015-10-01 CN CN201510643044.0A patent/CN105224746B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101798848A (en) * | 2010-03-05 | 2010-08-11 | 北京纽曼帝莱蒙膜建筑技术有限公司 | Method for dynamically simulating construction of tension structure by using mechanical movement simulation model |
Non-Patent Citations (5)
| Title |
|---|
| 《Adams中钢丝绳索类物体建模方法研究》;李海军等;《机械管理开发》;20070831(第4期);第4-7页 * |
| 《Efficient modeling of extensible cables and pulley systems in ADAMS》;Elliott A S;《European User Conference》;20021130;第1-10页 * |
| 《基于Adams的太阳帆展开绳索的建模与仿真》;周晓俊等;《计算机辅助工程》;20130531;第22卷(第S1期);第194-224页 * |
| 《基于虚拟样机滑轮-绳索机构的建模及仿真分析》;李永波等;《应用科技》;20130630;第40卷(第3期);第1-5页 * |
| 《滑轮-绳索机构建模方法研究》;贾智宏等;《机械工程师》;20070331(第3期);第74-75页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105224746A (en) | 2016-01-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Pott et al. | Cable-driven parallel robots | |
| He et al. | Multi-body dynamics modeling and TMD optimization based on the improved AFSA for floating wind turbines | |
| CN105224746B (en) | Pulley based on Adams softwares --- the analogy method of rope type objects | |
| CN106979861B (en) | Gear Contact Fatigue Life appraisal procedure and device | |
| CN103063401B (en) | Preparation method of steel truss arch bridge wind tunnel test model | |
| CN108052760A (en) | A kind of gear pair nonlinear kinetics computational methods | |
| Júnior et al. | Modeling wind turbine blades by geometrically-exact beam and shell elements: A comparative approach | |
| CN105160067A (en) | Method for checking strength performances of variable-pitch bearing and hub connecting bolt and variable-pitch bearing and vane connecting bolt of fan | |
| CN103235846B (en) | The real-time assembly simulation method of flexible cable and device | |
| Lugris et al. | Efficient and accurate simulation of the rope–sheave interaction in weight-lifting machines | |
| CN104850685B (en) | A kind of altitude operation vehicle tubular boom system finite element structure calculation method | |
| CN105095543B (en) | The method and apparatus for simulating large scale equipment hoisting process | |
| CN109634111B (en) | Dynamic deformation calculation method for high-speed heavy-load robot | |
| Khaouch et al. | Mechatronic modeling of a 750 kW fixed-speed wind energy conversion system using the Bond Graph Approach | |
| CN111783201B (en) | Rapid analysis method for dynamic characteristics of three-span self-anchored suspension bridge | |
| CN105184031B (en) | A kind of light-weight design method for the people's handle configurations that put together machines | |
| CN110936382A (en) | Data-driven industrial robot energy consumption optimization method | |
| He et al. | Virtual prototyping-based multibody systems dynamics analysis of offshore crane | |
| CN108205516A (en) | A kind of ocean structure fluid structurecoupling dynamic response algorithm transmitted based on condition | |
| CN105005636A (en) | Parameterized calculating method for tubular-shaped boom system of aerial work vehicle | |
| CN103440386B (en) | Wind driven generator yaw system driving moment computing system and method thereof | |
| CN104239639B (en) | Method for simplifying parameter modification of topological optimization model of transmission shell | |
| CN103034784B (en) | Based on the diesel engine gas distributing system dynamics calculation method of multi-body system transfer matrix | |
| Luo et al. | Rigid-flexible coupling dynamics simulation of 3-RPS parallel robot based on ADAMS and ANSYS | |
| CN106096166A (en) | The analogy method of the multiple pattern of four-bar linkage based on ADAMS |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Rui Inventor after: Gao Jianbiao Inventor after: Tao Lin Inventor after: Deng Jie Inventor after: Wu Yihong Inventor after: Zhang Dong Inventor after: Zhang Jinxiong Inventor after: Zhang Hongwei Inventor after: Zhang Wenyuan Inventor after: Wang Zhigang Inventor before: Zhang Rui Inventor before: Wu Yihong Inventor before: Deng Jie Inventor before: Zhang Dong Inventor before: Zhang Jinxiong Inventor before: Zhang Wenyuan Inventor before: Zhang Hongwei Inventor before: Gao Jianbiao Inventor before: Wang Zhigang |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |