Study Of The Dynamic Analysis Of The Large-Size Shotcrete Robot

This thesis mainly focuses on dynamic analyses of the Large-size ShotcreteRobot, which is a product of the Robot Research Center in Shandong Universityof Science and Technology. The robot has eight degrees of freedom, and is a kindof redundant robot. The characteristics of UG are discussed, some skills inbuilding a three-dimension model for a CAE analysis are generalized, and the modelof the Large-size Shotcrete Robot is completed. The dynamic equations of the robot,which will be an accurate theoretical analysis model for the control andsimulation of the robot, are deduced by D-H notation and iterative Newton-Eulerdynamic formulation. The UG geometry model is imported to ADAMS, and the virtualprototype model is completed. For the sake of an accurate virtual prototype model,the map from operational space to actuator space via joint space is discussedand is implemented by ADAMS. Through exporting the simulation results of thevirtual prototype model, the forces at joints and the FEA loads are available.The principle of finite element method and the skills in modeling a finite elementanalysis are discussed. The FEA model and static analysis of the robot arecompleted, and the visualized stress and deformation fringes of the base arm andthe telescopic jib are gained consequently. With the modal analysis, the foreten modes of the structure are gained, the bending rigidity and the torsionalrigidity are apparent, and two vibration sources whose frequencies are close tothe natural frequencies are discussed. Lastly, the shell element part of thetelescopic jib is optimized. These all will be the bases of the modifying designand the experiments in the future.