本文選題：拆除機(jī)器人 + 工作裝置��； 參考：《安徽工業(yè)大學(xué)》2017年碩士論文

【摘要】：拆除機(jī)器人是工程機(jī)器人的一種,即面向高危及特殊環(huán)境下依靠自身動力和控制能力來進(jìn)行工程施工作業(yè)的遙控操作多關(guān)節(jié)機(jī)械手或多自由度機(jī)器人。傳統(tǒng)拆除機(jī)器人的工作裝置臂架系統(tǒng)是三節(jié)臂式,即由整體式的大臂、中臂和小臂組成。雖然其作業(yè)范圍和操作靈活性相對于兩節(jié)臂式的挖掘機(jī)有很大的提高,但仍然無法滿足災(zāi)后障礙物眾多、救援空間狹小、廢墟形式多樣等復(fù)雜情況。為了滿足災(zāi)后復(fù)雜艱巨的救援需求,本論文設(shè)計一種由移動和旋轉(zhuǎn)關(guān)節(jié)構(gòu)成的7自由度拆除機(jī)器人的工作裝置并利用CAE技術(shù)進(jìn)行仿真分析,使其具有操縱靈活、作業(yè)范圍大、承受重載、耐強(qiáng)沖擊的作業(yè)能力和特點(diǎn)。論文的主要內(nèi)容如下:(1)簡要介紹拆除機(jī)器人的國內(nèi)外發(fā)展現(xiàn)狀。(2)根據(jù)本課題的設(shè)計指標(biāo)并在充分參考GTRC-50型拆除機(jī)器人的基礎(chǔ)上,設(shè)計該新型工作裝置的構(gòu)型,然后對其主要部件的尺寸進(jìn)行初步選擇。最后,利用三維建模軟件Solidworks對該新型工作裝置各部件進(jìn)行三維建模并裝配。(3)利用ADAMS軟件建立工作裝置的虛擬樣機(jī)模型,在研究工作裝置作業(yè)范圍的包絡(luò)曲線形成過程的基礎(chǔ)上,在ADAMS中對工作裝置進(jìn)行運(yùn)動學(xué)分析,得到工作裝置的作業(yè)區(qū)間和極限作業(yè)尺寸。然后,分析抓取重物的作業(yè)工況下各液壓缸的驅(qū)動力并以此為依據(jù)對液壓缸進(jìn)行計算選型。(4)利用HyperMesh軟件創(chuàng)建工作裝置的有限元模型,對8種不同工況下的工作裝置進(jìn)行靜力學(xué)仿真分析,對其強(qiáng)度和剛度進(jìn)行校核。對結(jié)構(gòu)薄弱的部分進(jìn)行改進(jìn)優(yōu)化,使其結(jié)構(gòu)強(qiáng)度滿足設(shè)計要求。(5)聯(lián)合HyperMesh和ADAMS軟件對工作裝置進(jìn)行剛?cè)狁詈蟿恿W(xué)仿真分析,研究分析在整個平穩(wěn)運(yùn)動過程中和不同的制動工況下各主要部件上動態(tài)應(yīng)力的變化情況,并對其強(qiáng)度進(jìn)行校核,得出安全運(yùn)行的條件,為拆除機(jī)器人操作手冊的制定提供理論依據(jù)。(6)對工作裝置進(jìn)行模態(tài)和頻率響應(yīng)分析。通過模態(tài)分析,得到工作裝置在4種不同破拆位姿下的前六階模態(tài)振型和固有頻率。通過頻率響應(yīng)分析,研究在液壓錘實際作業(yè)頻率下工作裝置上的動應(yīng)力和位移響應(yīng),并對其強(qiáng)度和剛度進(jìn)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.
【學(xué)位授予單位】：安徽工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 湯鵬洲;夏仲雷;羅銘;;液壓碎石機(jī)械手的剛?cè)狁詈蟿恿W(xué)仿真分析[J];礦山機(jī)械;2016年08期

2 張恩來;侯亮;蔡惠坤;;基于Hypermesh的液壓破碎錘工作裝置模態(tài)分析[J];中國工程機(jī)械學(xué)報;2015年05期

3 湯鵬洲;羅銘;朱萍;;工程機(jī)器人技術(shù)發(fā)展與應(yīng)用[J];機(jī)器人技術(shù)與應(yīng)用;2015年04期

4 孫野;殷鳳龍;王香麗;陳忠凱;馮曉;;六自由度機(jī)械臂運(yùn)動學(xué)及工作空間分析[J];機(jī)床與液壓;2015年03期

5 孫立;王飛;王濤;;GTC-15D多功能拆除機(jī)器人的研制[J];鑿巖機(jī)械氣動工具;2014年01期

6 徐必勇;羅銘;劉顯成;;新型多功能拆除機(jī)器人的研制[J];建筑機(jī)械;2013年05期

7 舒春桃;;遙控液壓打渣機(jī)在有色冶金工業(yè)中的應(yīng)用[J];有色設(shè)備;2012年06期

8 徐必勇;羅銘;;多功能液壓手腕的開發(fā)及應(yīng)用[J];建筑機(jī)械;2012年07期

9 周志鴻;馬飛;鄭利霞;;遙控拆磚機(jī)在水泥干法回轉(zhuǎn)窯維修中的應(yīng)用[J];鑿巖機(jī)械氣動工具;2011年03期

10 徐兵;朱曉軍;劉偉;劉英杰;;挖掘機(jī)工作裝置運(yùn)動學(xué)建模與仿真[J];機(jī)床與液壓;2011年09期

相關(guān)碩士學(xué)位論文 前10條

1 王敏;液壓挖掘機(jī)工作裝置的動態(tài)仿真及有限元分析[D];長安大學(xué);2015年

2 張凈華;液壓挖掘機(jī)工作裝置有限元分析與焊接疲勞壽命預(yù)測[D];燕山大學(xué);2015年

3 孫克義;液壓挖掘機(jī)工作裝置的動力學(xué)分析與仿真[D];蘭州理工大學(xué);2014年

4 溫保樂;大噸位雙回轉(zhuǎn)鐵路救援起重機(jī)三節(jié)伸縮臂截面優(yōu)化研究[D];西南交通大學(xué);2014年

5 鐘飛;挖掘機(jī)破碎作業(yè)工作裝置動態(tài)特性及疲勞分析[D];太原科技大學(xué);2013年

6 喬紅嬌;基于多體動力學(xué)和有限元法聯(lián)合仿真的機(jī)械產(chǎn)品設(shè)計方法研究[D];合肥工業(yè)大學(xué);2013年

7 宋曉瑞;基于創(chuàng)新理論的機(jī)械產(chǎn)品改進(jìn)設(shè)計[D];長安大學(xué);2012年

8 謝愚;液壓挖掘機(jī)反鏟工作裝置的運(yùn)動仿真與有限元分析[D];長沙理工大學(xué);2012年

9 劉軍偉;基于虛擬樣機(jī)的智能拆除機(jī)器人工作裝置設(shè)計與研究[D];長安大學(xué);2010年

10 張振軍;拆除機(jī)器人液壓系統(tǒng)研究[D];長安大學(xué);2009年

，

本文編號：1807024