ИМИТАЦИОННАЯ МОДЕЛЬ АВТОМОБИЛЬНОГО МАНИПУЛЯТОРА, РЕАЛИЗОВАННАЯ В СРЕДЕ САПР

Abstract

The article is devoted to the problems of simulation of the working process of a truck-mounted crane using modern computer-aided design systems and applications for engineering calculations. Currently, analytical methods are mainly used to model the operation of manipulator technology, such as “manual” compilation and solution of Lagrange equations of the second order, or even simpler evaluative calculations based only on basic concepts of theoretical mechanics. However, such objects consist of many parts that are in a complex rotational motion and contact interaction with each other. If such complex systems are modeled by the indicated analytical methods, one has to introduce a number of assumptions that greatly simplify the mathematical model. The level of its adequacy is low. Also recently, numerical methods for modeling mechanisms that are implemented through programming languages by using a detailed description of the process under study are often used abroad. An alternative to these methods is the use of computer-aided design systems in which numerical methods are built-in at the core level of the program and require setting the basic geometric, dynamic and kinematic parameters of the mechanism and the environment, after which they can calculate the functioning parameters of the object under study. The process of creating a simulation model of a truck mounted crane, which is an analogue of an existing laboratory setup, has been considered. To do this, a 3D model of the manipulator in the SolidWorks CAD environment has been developed. The creation technique and the main features of the obtained simulation model have been described