Truck Mounted Concrete Pump Boom Multi-body Flexible Analysis and Experiment Validation
[1]
Ren Wu, School of Biomedical Engineering, Xinxiang Medical University, Xinxiang, China; State Key Laboratory for High Performance Complex Manufacturing, Central South University Changsha, Changsha, China.
[2]
Li Zhongwei, School of Biomedical Engineering, Xinxiang Medical University, Xinxiang, China.
[3]
Bi Yanping, School of Biomedical Engineering, Xinxiang Medical University, Xinxiang, China.
[4]
Yu Yi, School of Biomedical Engineering, Xinxiang Medical University, Xinxiang, China.
[5]
Zhu Yongtao, School of Biomedical Engineering, Xinxiang Medical University, Xinxiang, China.
[6]
Peng Bo, School of Biomedical Engineering, Xinxiang Medical University, Xinxiang, China; Hunan Special Equipment Inspection and Testing Research Institute Zhang Jiajie branch, Zhang Jiajie, China.
[7]
Luo Yang, School of Biomedical Engineering, Xinxiang Medical University, Xinxiang, China.
Due to the dynamics characteristics and kinematics law of truck mounted concrete pump boom are difficult to determine, the modal reduce method and the finite element theory are respectively adopted to establish the boom multi-body flexible model. Then the rigid model also has been researched. Next the characteristics of the models have been studied. By the comparison the results show that: modal reduction flexible body model based on small deformation theory has high solution efficiency thus it can solve large scale flexible body. And the finite element technology flexible multi-body model based on large deformation theory can solve high-precision flexible body. Besides both of the two flexible models results are accurate than the rigid model. Modal reduction flexible body is suitable for solving little small deformation problem, as well as the finite element flexible body is used for solving large deformation usually. Finally, an experimental has been done on a boom test rig in order to prove the correctness of the model built in the article. All of these give assistance to researchers and engineers in designing and calculations of such large manipulators.
Modal Reduction Method, Finite Element Method, Flexible Multi-body Model, Experiment
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