Design And Analysis Of Assembly-disassembly Manipulator With Long Stroke And Multi-dof

Development of SG-III "Range of Physical Diagnosis Equipment AuxiliaryMounting System" needs to design a special piece of equipment, which is requiredto achieve the static imaging component’s harmless clamping, transporting in anarrow space, delivering to the designated location and adjusting the long stroke andmultiple degrees of freedom of the components. At present, the conventional groundcrane and suspended track crane are unable to meet these requirements. Therefore,this thesis provides the long stroke with multiple degrees of freedom manipulatorwhich based on the existing technologies of hoisting and conveying. Besides, inview of this special use of the equipment, the static and dynamic analysis of thisequipment have been done.According to the requirement of equipment and working environment, thisequipment is designed to run on a hanging ring rail. It can run on both straight andannular rail with the use of a trailer mechanism, which can make the equipmentrunning through the crossing section of the straight and annular rail. What more, ithas a telescopic arm to implement luffing, a translational mechanism to lift, theswing mechanism to change the angle, a six-degrees-of-freedom adjustmentmechanism to adjust the pose, and a long stroke device to implement the longdistance feeding.The design of the virtual prototyping and the processing drawings has beendone by the software of Pro/E and AutoCAD. After the equipment established, basedon the theory of mechanism, this thesis verified the accessibility of the equipment,deriving a set of data which is useful for the components hoisting and conveying.Then this thesis designed the structure of the equipment and checked themechanism.According to the structural features, the machine skeleton used the steel plateoverall welding structure. Therefore, the shell element was used in the finite elementmodeling and the beam element was utilized to analogy the hydro cylinder. Then usethe finite element analysis software ANSYS to analysis the deformation and stress inthe process of working. Through the load, calculate and analyze in a variety ofconditions, the thesis got the results of deformation and stress of the machine.At last, on the base of the finite element modeling in the process of staticanalysis, this thesis analyzed the dynamic performance of this equipment by ANSYSand extracted six-order modal of this machine. Analysis of the characteristics of the mode of vibration as well as some of the reasons for start-oscillation also has beendone in this thesis. These modes of vibration are basically consistent with the actual.Besides, the thesis provided reference for the environment and accomplishedtelescoping device, moving device and swing device dynamics modeling. Finally,analyses the regularity of moving device’s and swing device’s angular velocity andangular acceleration, having gotten the curve of the angular velocity and angularacceleration.