Research On Multi-field Simulation And Dynamic Analysis Of The High-speed , Heavy-load And Precision Manipulator

The high-speed, heavy-load and precision manipulator,which is the main tool of the major equipment manufacturing, is widely applied in vehicle, marine, aviation, aerospace, and steel metallurgy and other industries. However, the major factors which influence quality of work, performance and efficiency of the manipulator are positioning accuracy, speed and optimization of its structure. Precision, heavy-load and high-speed are always a contradictory unity. If the contradictions of this continuum are wanted to be perfectly solved, we should find the factors that effect it. The major factors are not only from a particular aspect but also from other aspects, such as drive systems, control systems, transmission and terminal execution system of the manipulator, or the factors that are made of within or between in the machine - electric - liquid areas of them, that are not only superposition of many factors but also the synthesis that are constructed by interaction and mutual influence of many number of factors. Therefore, the multi-domain modeling and simulation research of high-speed, precision and heavy-load manipulator has become a new topic in the current study.The following paragraphs are the mainly content of this paper.Firstly, the collectivity, structure and drive system of the high-speed, heavy-load and precision manipulator are discussed, and the dynamics theory related is studied.Secondly, a type of high-speed, precision and heavy manipulator which is used in the assembly of automotive manipulator is presented. The requirements of system collectivity of the manipulator are analyzed. Its structure including parts and assemblies are designed and modeled. Finally, the forward and inverse kinematics of this 6-DOF manipulator is analyzed.Thirdly, the theory and methods of the multi-domain simulation of machine, electric and hydraulic of the manipulator are proposed: first of all, the motion simulation of the manipulator is made, and the velocity and acceleration curves of the implementing actuators are analyzed based on the simulation results. Secondly, the electro-hydraulic aspects, which are the control systems of the manipulator, are analyzed and simulated by using the AMESim. Analyzing the results of simulation which are the displacement, pressure, velocity and acceleration of the implementing actuators, we obtain our research results: the models of the control systems and the analysis methods are efficient at any position in the whole stroke of the manipulator. With the precise positioning and fast response, the control system can achieve good effect which also verified the correctness of the model and the effectiveness of control systems.Through simulating the motion and control systems of the high-speed, heavy-load and precision manipulator,we have been verified the law that some design parameters influenced the performance, function index of the manipulator, three aspect of performances such as high-speed, precision and heavy-load are achieved and syncretized reasonably, And thereby the theory basis and reference are put forward to the performance evaluation technology and experiment technology of high-speed, heavy-load and precision manipulator.