Stručni rad
https://doi.org/10.31534/engmod.2020.1-2.ri.06f
Mechanism Analysis and Dynamics Simulation of Assist Manipulator
Bao Junhua
orcid.org/0000-0002-8528-3163
; School of Mechanical Engineering, Dalian Jiao Tong University, Dalian, 116028, CHINA
He Weidong
; School of Mechanical Engineering, Dalian Jiao Tong University, Dalian, 116028, CHINA
Liao Minghui
; Dalian Tianyun Machinery Co., Ltd., Dalian, 116033, CHINA
Sažetak
In order to reduce labour intensity and improve working efficiency, a kind of assist manipulator was designed which is an auxiliary tool used for the assembly line of the marine diesel engine that can conveniently realize the delivery of parts and field assembly. Motion and force analysis of the mechanism of assist manipulator was examined with the help of MATLAB software on the base of d'Alembert principle, the disciplinary of displacement, velocity, acceleration, and force rules in the process of mechanism movement was obtained by mechanical analysis. Based on the kinematical analysis, the parameters of mechanism size were optimized to improve the loading state. The Creo software, ANSYS software, and RecurDyn software were used to model and analyse the rigid-flexible coupling dynamics of the manipulator, and the motion law and stress distribution of the key components was obtained.
Ključne riječi
assist manipulator; mechanism analysis; multi-body dynamics simulation; rigid-flexible coupling; optimization
Hrčak ID:
241105
URI
Datum izdavanja:
16.7.2020.
Posjeta: 959 *