Study on Dynamics Model of Automatic Elevator Link and Elevator

Automatic rings and elevator are the important components of workover operations in elevating mechanical system,according to composition characteristics and working principle of automatic rings and elevator's mechanism,automatic rings and elevator was simplified to a plane system that all components of it were working in the same plane.Based on rigid body kinematics and dynamics theories,the kinematics and dynamics mathematical models of automatic rings and elevator swinging progress were established by using constraint equations,rate equation,acceleration equations,virtual principle work,Lagrange multiplier and differential-algebraic mixed equations of motion.It provides theoretical basis for kinematics and dynamics analysis in swinging process of the automatic rings and elevator.