Design Of Heavy Telescopic Boom Overloaded Robot

Working in enclosed space which has a small entrance and a large internalspace is a phenomenon that occurs more and more frequently in the realengineering application. As examples, the installation of load device in the inneraircraft, the installation of load machine cabinet in the inner space capsule andinner device installation of the rail car all of which need to move the load devicefrom outside to the inner enclosed space. Manual lifting and handling could onlyhandle much lighter equipments and we can’t guarantee the security of handlingheavy ones by hands. To solve this problem, the heavy telescopic boomoverloaded robot is used in the installation of heavy equipment. The base hasthree directions that are translation, rotation and vertical movement. Telescopicboom has functions of loading and stretch out and draw back which could senddevice into the cabin successfully. This paper mainly studies the telescopic liftingarm and the base.First, this paper analyzed the mechanical structure of the heavy telescopicboom overloaded robot in detail, which mainly consists of end actuators,extendable hoist boom and base of main body, the extendable hoist boom chosethe ball-screw to stretch out and draw back, and the base of main body can lift,translate and rotate. Second, because the telescopic boom often crawls inlow-speed run, friction model is build and a simulation analysis of the speed loopand position loop is carried out. Analysis and comparison are made to a variety ofacceleration and deceleration of the telescopic boom; finally we select the mostsuitable method of acceleration and deceleration so that telescopic boom can givefull play to the motor performance and reduce the speed impact in the process ofacceleration and deceleration. Last, the control system is designed and appliedindustrial computer to realize the function of human-computer interaction, file management, video real-time display and data real-time display through thereal-time communication with motion controller, image acquisition card and dataacquisition card. Human-computer interaction is realized by the interaction of thecontrol panel and demonstration box, based on Visual C++6.0programmingsoftware of the Microsoft MFC library to realize the function of the numericalcontrol system software development.The performance of motor can be improved by simulation of speed loop andposition loop, and by the suitable method of acceleration and deceleration, whichcan reduce speed impact, the robot with five DOF has three telescopic armstructure, When the robot install racks, we need not remove the robot andcapsules, it can greatly improve the process and efficiency of loading andunloading.