The Dynamics Analysis Of Grinding Robot Arm For Slender Rocket Shell

With the development of science and technology, robot has entered into the people’s daily life. Because industrial robots can bring enterprise huge economic benefits, so the applications of industrial robots are widely used. The polishing object is a slender rocket shell object which is studied in this paper. Because the length of the object is very long, therefore the mechanical arm also should be special long. In this paper this kind of robot will be studied.First of all, this thesis designed the overall structure of the robot. Because the mechanical arm is special long, so the traditional ball screw vice already can not satisfy the requirement of grinding accuracy. Therefore, this article used the super-modulus gear transmission mode, and designed the parameters of gear. According to the requirements of the parallel, one side used the slider guide and the other side used rolling bearing, so that, the height of one side can be adjusted. This paper drawled the part drawings and the general assembly drawing and established the3D model of the grinding robot by using Pro/E.Then, the thesis designed two schemes for the structure of the mechanical arm. The two schemes were analyzed and compared separately from three aspects including their weights, rigidities and modals by using finite element tools. According to the results of analysis, we could choose a better plan from the two schemes. And also, considering the chain’s effect on the grinding accuracy, this paper putted forward a scheme that we could simulate chains by using elastic sleeves. The paper designed elastic sleeves for the chains of the forearm and wrist. Then we established a new mechanical arm with the elastic sleeves and analyzed the new mode of it. At last, we built the flexible body in ADAMS by using the document of the sleeve which was generated in ANSYS. We re-established the simplified model of mechanical arm in ADAMS and made a dynamics simulation to research the chain’s effect on the precision of grinding.Finally, we established the dynamics model of the mechanical arm and did a dynamics simulation by ADAMS. Then, from the simulation, we could get the forces or torques of each joint.