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Tao Liu1, Jian Sun2
1. School of Automobile Engineering, Harbin Institute of Technology, Weihai, 264209, China E-mail: firstname.lastname@example.org 2. Department of technology, Weihai Chemical Machinery Co., Ltd., Weihai, 264203, China Abstract: A mathematical model has been established for the research on scissor elevator. The kinematical and kinetic simulation analysis was carried out with MATLAB/Simulink. The relative kinetic relation between hydraulic cylinder and other parts, as well as its rules of change has been found. A 3-D model of scissor lifting mechanism was established with Pro/E. The design of the mechanism was optimized in Pro/Mechanical based on the findings from simulation analysis, which may guide and improve the further design. The design was proved to be scientific and reasonable and could serve as the theoretical guidance and reference for the design of scissor lifting mechanism of other uses. Key Words: Mechanical engineering, Scissor lifting mechanism, Simulative calculation, Optimal design
Scissor lifting mechanism is the first choice for automobiles at high altitude work. These automobiles must be highly secure and reliable for the sake of the personnel safety. In the past the design of scissor lifting mechanism at high altitude work has simplified the dynamic problem and treated it as static. The kinetic reaction has been considered with live load coefficient. The problem was simplified but the most serious defect was that the machines’ real working condition and kinetic features couldn’t be accurately reflected, which may lead to the unreasonable and inaccurate calculation for analysis and design. In order to solve the problem before-mentioned, a mathematical model of scissor lifting mechanism has been established and the kinematical and kinetic simulation analysis was carried out. The kinematical and kinetic parameters of the hydraulic cylinder and other parts have been obtained. The primary design has been improved by applying entity model and optimal design. It is significant for guaranteeing the security of automobiles at high altitude work and improves its working performances and efficiency[1~3].
Fig.1. Configuration of scissor lifting mechanism of automobile at high altitude work
Kinematics simulation research
KINEMATICS and SIMULATION RESEARCH
(1) Mathematical model The scissor lifting mechanism is illustrated as Figure 2. The length of 1 is r1, the length of 2 is r2, the length of 3 is r3, the length of 4 is r4, mg is the weight of hoisting terrace.
Configuration of scissor lifting mechanism
In Pro/E, the 3-D model of scissor lifting mechanism was established. The configuration of scissor lifting mechanism is shown in Figure 1. The scissor lifting mechanism is composed of outer hoisting frame, inner hosting frame, hydraulic cylinder and other parts. It is driven by hydraulic cylinder.
Fig.2. Sketch of the lifting mechanism 1 Assistant Frame 2 Inner Hoisting Frame 3 Outer Hoisting Frame 4 hydraulic cylinder 5 Hoisting Terrace
The mathematical model is established for the kinematical analysis of the scissor lifting mechanism with reference to the closed-ring vector equation. The choice of
978-1-4244-2723-9/09/$25.00 c 2009 IEEE 2079
3. r3cosθ3 +r2 cosθ 2 =r1 r3sinθ3 +r 2 sinθ 2 =0 r4 cosθ 4 +(a+r2 )cosθ 2 =r1 r4sinθ 4 +(a+r2 )sinθ 2 =0 Where: (4) (5) (6) (7) θ3 Fig. The following group of formula can be got: (1) Mathematical model The analysis of the stress on outer hoisting frame is shown by Figure 4.frame of axes is illustrated as Figure 2. Fig. m3g is the weight of outer hoisting frame.3. palstance and angular acceleration can be got by running the simulated model. Kinematics simulated model The data of each bar’s position. as is shown in Figure 3. others are shown in figure 4. Each connecting bar can be shown by a displacement vector. The mathematical models of the stress on the inner hosting frame. the hydraulic cylinder and the upper terrace can be got in a similar way.4. F13x + F23x = m3 ac3x (8) (9) (10) F13y + F23y − F53y − m3g = m3 ac3y F13x L sin θ3 − F53y L cos θ3 − F13y L cos θ3 = I 3α 3 Where: I3 is the moment of inertia of the bar. 2080 2009 Chinese Control and Decision Conference (CCDC 2009) . It can be got from Figure 4 that: (2) Kinematics Simulation research From the former group of formula the simulated model is established based on the kinematics relation of the mechanism. (2) Kinetics Simulation research The simulated model of the kinetic mechanism is established based on the mathematical model got from former group of formula. Kinetics Simulation R4 +R2 (a+r2 )/r2 =R 1 (2) The vector equation can be divided into two scalar quantity formulas: one is in the direction of x axis and the other is in the direction of y axis. Thus the following formula can be got: R3 +R2 =R1 (1) The data may make preparation for further kinetic simulation. 2. as is shown in Figure 5. Stress on outer hoisting frame θ2 θ3 θ 4 is shown in figure 2.
4 0 0.2 6 3 OPTIMAL DESIGN Based on Pro/Mechanical. Table2. Results of kinetics simulation Force F12y F13x F13y F14x F14y F23x F23y F52y F53y P Max /N 14610 59286 34178 56284 110800 24927 88782 34000 34000 114586 Time /s 0. 4mm ≤ s2 (3) The of ≤ 20mm . Table1.2 6 0. as is shown in Table 2.2 0. of s2: s3: thickness 4mm ≤ s3 ≤ 12mm .Fig.4 0 0. Results of optimal design 2009 Chinese Control and Decision Conference (CCDC 2009) 2081 . the 3-D model of the scissor lifting mechanism can be optimized to minimize the total quality of hoisting frames.2 6 0 0 0 0 Min /N 8547 18950 24587 17000 100000 66285 50350 27653 27653 103874 Time /s 0.5. (4) The maximal stress σ : σ ≤ 345/1. The constraint conditions are: (1) The (2) The thickness thickness of the the the inner reinforcing vertical flitch plate bridge s1: 4mm ≤ s1 ≤ 12mm . Kinetics simulated model (3) Simulation result By running the simulated model the data of acting force with the change of time can be got (as shown in table 1) which may make preparation for further optimized design.2 6 0 0 6 0.5=230MPa The results of optimized design can be got by running the program.
34 (5):614-617 10 7. 4 CONCLUSION The kinematical and kinetic simulation analysis of scissor lifting mechanism for automobiles at high altitude work was carried out with MATLAB/Simulink. Journal of Harbin Institute of Technology. Machine Design and Research.98kg before optimized.4kg reduction compared with 2136. By using Pro/Mechanical the design was optimized based on the simulation analysis results.12 Vol. Machine Design.43 Round 6 mechanism is effectively reduced in the premise of ensuring the intensity. Semantic feature modeling.Parameters Thickness of the inner flitch(mm) Thickness of the reinforcing plate(mm) Thickness of the vertical bridge(mm) Original Design 8 Optimized Design 5. Auto Mobile Design Optimized Based on Finite Element.76 10  Bidarra. 1994.58kg with a 290. 32(3): 201~225  WANG Fang. Brinsvoort. The curve of kinematical and kinetic parameters’ relations for the components has been obtained. Lin Jianhua. 2001(9):41-42.4  Li Emin. Journal of Gansu University of Technology.60 8 The total quality of the scissor lifting mechanism is 1846.4 34~37  Cui Shengmin. Chi Guotai. 2002. 2004.20 No. The proposal can be easily put into operation and provide reference for engineering application.  Jiang Daye. Optimized Compounding Loan Decision Model Based on Finite Border. Study on the Kinematic Simulation of Linkage Mechanism Based on Simulink. The quality of scissor lifting 2082 2009 Chinese Control and Decision Conference (CCDC 2009) .R. Computer Aided Design. 2000. A 3-D model of scissor lifting mechanism was established with Pro/E. ZHANG Hai-yan. Yang Zhanchun. REFERENCES 12 9. A Kinematic and Dynamic Analysis of Scissors Mechanism Driven by Hydraulic Cylinder. WF.
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