运用Matlab对折臂式随车起重机进行了运动学仿真研究，建立了折臂式随车起重机的运动学数学模型。针对吊点速度和加速度解析解异常繁琐和复杂，提出了吊点速度和加速度的数值解法，给出了 Matlab GUI对话框的程序格式。并以某型号的折臂式随车起重机为例进行了仿真计算，实现了对包络图、速度和加速度图的绘制。给出了 Matlab 计算程序运行时间的办法，证实了 Matlab 编程能实现包络图、速度和加速度图的快速绘制，为折臂式随车起重机的机构设计提供了一种高效便捷的方法。

Kinematics simulation research for the goose-neck lorry-mounted crane is performed by Matlab,with the ki-nematics mathematic model to be built for the goose-neck lorry-mounted crane.In view of extraordinarily cumbersome and complicated analytical solution of the hoisting speed and acceleration,the paper puts forward the numerical solution for hoist-ing speed and acceleration,gives the program format of Matlab GUI dialog box,and presents simulation calculation with cer-tain type of goose-neck lorry-mounted crane as an example,with the envelope diagram,speed diagram,and acceleration di-agram plotted.In addition,the paper also introduces the method for calculating the program run time by MATLAB,which can prove that the Matlab programming can realize quick plotting of envelope diagram,speed diagram,and acceleration dia-gram,showing a high-efficient and excellent method for structural design of the goose-neck lorry-mounted crane.

运用Matlab对矿用折臂式随车起重机进行特性研究。针对强度和整机稳的角度绘制起重特性曲线的异常繁琐和复杂，提出了参数化起重特性曲线的绘制方法，给出了Matlab GUI对话框的程序格式。并以某型折臂式随车起重机为例进行仿真计算，用参数化绘制出起重特性图，给出了Matlab计算程序运行时间的方法，证实了Matlab编程能实现起重特性图的快速绘制，为折臂式随车起重机的机构设计提供了一种高效便捷的方法。

Research on the performance of the mine folding-boom truck-mounted crane is performed by Mat-lab.Considering that it''s unusually troublesome and complex to draw the lifting performance curve in view of the strength and crane stability,the paper puts forward the plotting method for parametric lifting performance curve and the program format of the Matlab GUI dialog box.Simulation calculation is performed with certain folding-boom truck-mounted crane as an ex-ample,with the lifting performance chart plotted by parameterization method.In addition,the paper gives the method of calculating the program running time in Matlab and verifies that Matlab programming can realize quick drawing of the lifting performance chart,providing a high-efficient convenient method for structural design of the folding-boom truck-mounted crane.

针对现有文献对折臂式随车起重运输车的臂架动态特性研究较少的问题,建立随车起重运输车臂架系统的刚性模型和柔性模型。基于柔性多体动力学的理论将随车起重运输车的臂架模拟为柔性机械臂,分析了折臂式随车起重运输车变幅机构的动态性能。利用拉格朗日方程建立了随车起重运输车变幅机构的柔性多体动力学方程,在Matlab/Simulink中建立了相应的仿真模型,对随车起重运输车各臂架的运动情况进行了分析,并对其进行数值求解。仿真结果表明:柔性臂架的运动表现为整体刚性运动和弹性变形量之间的耦合,导致了在刚性运动中出现较高频率的扰动,从而影响吊装定位精度。

Aiming at the problem of the lack of existing literature about the dynamic characteristics of the luffing mechanism of folding-boom lorry crane, the rigid and the flexible model were respectively established. Based on the flexible multi-body dynamics theory, the folding-booms were modeled as flexible manipulator arms and the dynamic characteristics of the luffing mechanism were analyzed. The flexible multi-body dynamics equation of the luffing mechanism was established by the Lagrange equations. The corresponding simulation system was established in Matlab/Simulink. Through the derivation and numerical solving of differential equation, the booms’ movement was analyzed. The simulation results indicate that the flexible arms’ motion is the coupling between the whole rigid motion and elastic deformation. Although the coupling has little influence on the whole motion, it affects the hoisting precision of the hoisting because of the high frequency disturbance during the rigid mo

以某重型折臂式随车起重机吊臂结构为研究对象，以有限元分析软件ANSYS Workbench协同仿真平台为工具，针对3种基本工况进行有限元分析，得到相应工况下吊臂的结构变形和应力分布，并完成吊臂结构的强度及刚度分析。分析结果表明，现有的吊臂结构能够满足正常作业的强度及刚度要求，但设计过于保守，存在结构冗余。其计算结果可以为后续的吊臂结构优化设计提供参考。

A certain type of articulated crane boom is studied .Based on the finite element analysis software-ANSYS Workbench co-simulation platform,it has completed the finite element analysis of structure under three kinds work conditions to get structural deformation and stress distribution .Then checking the strength and rigidity of crane boom and analyzing the simulated data .The analysis result indicated that the structure of this boom can meet the requirement but its design is too conservative ,and the analy-sis will provide a valuable reference for optimal design of the crane boom in the future .

将传统力学计算方法作为参考,利用有限元分析软件ANSYS建立随车起重机伸缩臂的有限元模型,根据伸缩臂在实际工作情况下的受载情况,求出随车起重机在工作过程中第一节伸缩臂与支撑滑块接触区域处的应力大小以及应力分布情况,为该伸缩臂与滑块接触的安全性和可靠性评价提供依据。

Referring to the traditional mechanics calculation methods and using the ANSYS finite element analysis software ,a tele-scopic boom crane finite element model was established .According to the loading status of the telescopic boom under actual work-ing conditions ,the stress in the contact area between the first telescopic boom and the supporting slider during the truck -mounted crane working was obtained ,and the stress distribution of the contact area was found .The above result can be used as basis for the assessment of the safety and reliability of the contact area between the telescopic boom and the slider .