The Design And Analysis Of Assembly And Disassembly System For The Component OM1 Module

According to the demand of the universal tooling system sub-project of SG-III, a set of special equipment is designed to achieve maintenance of the OM1 module. The equipment is characterized by multi-degree of freedom and flexibility, which can adapt to the complex working environment. The equipment is consist of an overhead working truck and a power assisted manipulator.Firstly, the overall design scheme is planned on the basis of operating condition, then the detailed design of the various sub-components, including the folding arm lifting mechanism, telescopic boom, the chassis system and the power assisted manipulator is accomplished. By MATLAB and CAD software, the geometry size of each component is initially determined, the stress analysis is carried out in theory, and the structure form of each part is obtained. According to the Pro E software, the equipment is introduced into the virtual work environment to determine the spatial location of the reachable and non interference, which verifies the feasibility of the device.In order to ensure the safety of structure design, on the ANSYS finite element simulation platform, the integral finite element model of the power assisted mechanical arm and aerial work vehicle was established by using the APDL command flow method. Four kinds of working conditions, which are determined by the four limit positions of the power assist manipulator, are simulated and the corresponding displacement and stress cloud pictures are obtained. By adding reinforcing rib plate, designing the reasonable section and changing the thickness of the plate, the structure of the parts was optimized and improved, and the strength and stiffness of the parts were verified to meet the requirements. According to the static simulation of three kinds of dangerous working conditions, the strength and stiffness of the aerial work vehicle are verified to meet the requirements; Through the establishment of three finite element model of vehicle(0°、45°、90°), the four leg pressure is obtained, the size of the counterweight is determined, verifying that the vehicle anti rollover stability can meets the requirements. In order to prevent resonance, the modal and harmonic response analysis of aerial work vehicle is carried out, the natural frequency and main vibration mode are obtained, and the frequency of resonance is determined.Finally, in order to obtain the change of the driving force of the hydraulic cylinder and the impact effect of the working platform, the dynamic model of multi rigid body system of aerial vehicle was established in ADAMS. The kinematic simulation analysis of the binding force of the known laws of motion is carried out, and the changing trend of the driving forces of each oil cylinder in the whole process from the initial state to the extended state is obtained. At the same time, the displacement, velocity and acceleration curve of the platform are also obtained.