The Medium-Size Shotcreting Robot With Virtual Prototyping

This paper is based on the medium-sized shotcreting Robot 2D design data and the exposure problems in the local use, considering that the medium-sized shotcreting Robot had gone through the transition from conception prototype, physics prototype(experimental prototype) to mature products , attempt to use inverse design and inverse validation to implement the medium-sized shotcretin Robot, to guide its re-design.First, introduce its original and the far-reaching meaning of virtual prototyping as to the exploitation of the medium-sized shotcretin Robot, use MathCAD to research themedium-sized its end effector-----spew gun's kinematics equation and Jacobian matrix,in the circumstance of UG realize parameterization design from 2D graph to 3D graph, CAD model design and tits structure' overall assembly , make preparations for ANSYS finite element analysis and ADAMS dynamics and kinematics analysis, in the circumstance of the ANSYS , make the stress analysis and strain analysis to its main parts and components, make an optimize design for to-and-fro arms ,design and build an model for fluid drive of its six freedom of motions, improve its hydraulic control system, use m-file to accomplish the load-supporting analysis of pitch cylinder, using MATLAB to emulate the control system of valve-control pitch cylinder and valve-control to-and-fro arms, finally use ADAMS to analysis all the drive joints and the integral machine. Use gunite work step to design its processing emulation, analysis and verification its some main positions and attitudes, provide elaborate information for its re-design.Through this subject study, using inverse validation try to find out and forecast the problems existing in the present middle-scale the medium-sized shotcretin Robot ,so as to accelerate the improvement on its performance, make it speediness occupy the tunnel construction market. This topic' complement will provide a successful example, meanwhile the context and the technology in the topic ground a base for the study of virtual prototype and it can conveniently be applied to other new products' research and development.