Dynamic Analysis Of Medium-Sized Shotcrete Robot

Shotcrete scrobotn is the research production of a National 863 Project subject completed by robot research centre of Shandong University of Sicence and Technology, which has a fire-new machine structure and an advance control system , and is superior to any other productions in the world, and is one of the projections emphasized spreaded by country. Introducing CAE technology in the process of the design of shotcrete can improve the quality of production, shorten the disignning period, improve the capability of independent development of shotcrete, and have great practical value.The article introduces the basic theory of shotcrectning, compares the shotcreting technics of manpower with that of manipulator, and dicusses the actuality and development of shotcrete scrobotn and the machine structure and principle of work of shotcrete scrobotn. Then it introduces, the basic principle of finite element and the virtual prototyping, and the principles and appling of Patran/Nastran and Adams.Calculate the forces on jionts by systematic simulink, so a series of graph of every joint are obtained, and the value of the force in the case of the most danerous, which prepares for the analyze of each part.Simplify the scrobotn to a girder structure and define the most danger status by using patran/nastran, then develop a deformation analysis of the four-bar structure of the base arm, so the most displacement in danger status is found and the status of stiffness is validated. In according to the result of the simulating analysis, analyze the key parts of scrobotn , and find out whether their status is danger or safe, which is the theoryetic accordings of following ameliorative design and also is a good method for solving the similar subject.