拆除机器人新型多自由度工作装置的设计与仿真分析

发布时间：2018-04-26 17:48

本文选题：拆除机器人 + 工作装置　；参考：《安徽工业大学》2017年硕士论文

【摘要】：拆除机器人是工程机器人的一种,即面向高危及特殊环境下依靠自身动力和控制能力来进行工程施工作业的遥控操作多关节机械手或多自由度机器人。传统拆除机器人的工作装置臂架系统是三节臂式,即由整体式的大臂、中臂和小臂组成。虽然其作业范围和操作灵活性相对于两节臂式的挖掘机有很大的提高,但仍然无法满足灾后障碍物众多、救援空间狭小、废墟形式多样等复杂情况。为了满足灾后复杂艰巨的救援需求,本论文设计一种由移动和旋转关节构成的7自由度拆除机器人的工作装置并利用CAE技术进行仿真分析,使其具有操纵灵活、作业范围大、承受重载、耐强冲击的作业能力和特点。论文的主要内容如下:(1)简要介绍拆除机器人的国内外发展现状。(2)根据本课题的设计指标并在充分参考GTRC-50型拆除机器人的基础上,设计该新型工作装置的构型,然后对其主要部件的尺寸进行初步选择。最后,利用三维建模软件Solidworks对该新型工作装置各部件进行三维建模并装配。(3)利用ADAMS软件建立工作装置的虚拟样机模型,在研究工作装置作业范围的包络曲线形成过程的基础上,在ADAMS中对工作装置进行运动学分析,得到工作装置的作业区间和极限作业尺寸。然后,分析抓取重物的作业工况下各液压缸的驱动力并以此为依据对液压缸进行计算选型。(4)利用HyperMesh软件创建工作装置的有限元模型,对8种不同工况下的工作装置进行静力学仿真分析,对其强度和刚度进行校核。对结构薄弱的部分进行改进优化,使其结构强度满足设计要求。(5)联合HyperMesh和ADAMS软件对工作装置进行刚柔耦合动力学仿真分析,研究分析在整个平稳运动过程中和不同的制动工况下各主要部件上动态应力的变化情况,并对其强度进行校核,得出安全运行的条件,为拆除机器人操作手册的制定提供理论依据。(6)对工作装置进行模态和频率响应分析。通过模态分析,得到工作装置在4种不同破拆位姿下的前六阶模态振型和固有频率。通过频率响应分析,研究在液压锤实际作业频率下工作装置上的动应力和位移响应,并对其强度和刚度进行校核。
[Abstract]:Demolition robot is a kind of engineering robot, which is a remote-operated multi-joint manipulator or multi-degree-of-freedom robot based on its own power and control ability under high risk and special environment. The jib system of the traditional disassembly robot consists of three arms, that is, the integral arm, the middle arm and the lower arm. Although the scope of operation and the flexibility of operation are greatly improved compared with the two-arm excavator, it still can not meet the complex situation of numerous obstacles, narrow rescue space and various forms of debris after the disaster. In order to meet the complicated and arduous rescue needs after the disaster, this paper designs a 7 degree-of-freedom work device which is composed of moving and rotating joints to remove the robot, and simulates and analyzes it by using CAE technology, which makes it have flexible manipulation and wide range of operation. Working ability and characteristics under heavy load and strong impact. The main contents of this paper are as follows: (1) A brief introduction to the development of the demolition robot at home and abroad. (2) according to the design index of this subject and on the basis of fully referring to the GTRC-50 type demolition robot, the configuration of the new working device is designed. Then the size of its main components is preliminarily selected. Finally, the 3D modeling software Solidworks is used to model and assemble the components of the new work device. The virtual prototype model of the working device is established by using the ADAMS software. On the basis of studying the envelope curve formation process of the work range of the work device, The kinematics analysis of the working device is carried out in ADAMS, and the operating interval and the limit operating size of the working device are obtained. Then, the driving force of each hydraulic cylinder under the operation condition of grabbing heavy object is analyzed, and based on this, the hydraulic cylinder is calculated and selected. (4) the finite element model of the working device is created by using HyperMesh software. Static simulation analysis was carried out on 8 kinds of working devices under different working conditions, and their strength and stiffness were checked. The weak parts of the structure are improved and optimized to make the structural strength meet the design requirements. (5) combined with HyperMesh and ADAMS software, the rigid-flexible coupling dynamic simulation analysis of the working device is carried out. This paper studies and analyzes the dynamic stress changes of the main components in the whole steady motion process and under different braking conditions, and verifies the strength of the dynamic stress stress, and obtains the conditions for safe operation. The modal and frequency responses of the device are analyzed. Through modal analysis, the first six modes and natural frequencies of the device are obtained under four different disassembly positions. Through the frequency response analysis, the dynamic stress and displacement response of the working device under the actual operating frequency of the hydraulic hammer are studied, and its strength and stiffness are checked.
【学位授予单位】：安徽工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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