The Research On Buckling Workspace Of Steel Band Parallel Robot

This paper is research on a new type parallel robot which have a strutting piece that with thin-walled steel band of arc-shaped cross-section, referred to as steel band parallel robot. This steel band have instability characteristics, resulting that parallel mechanism which consisting of theies occurs buckling phenomenon, even machine may be collapse. Therefore, understand and analysis the instability workspace is the main research content of this topic. So far, there are no studies about this, so it is a great significance to study instability workspace of steel band parallel robot.In this paper, using two different methods of eigenvalue buckling analysis and nonlinear buckling analysis to research in instability workspace of steel band parallel robot, the main tasks include:1. The first, research objectives and significance of this project are elaborated; then summarizes overseas and domestic research status and progress of parallel robot; and analyze the research situation of instability workspace of steel band parallel robot; finally, states the main contents in the paper.2. The eigenvalue buckling analysis theory and the nonlinear buckling analysis theory were explained and analysised in detail; including finite element static analysis theory, the balanced judgment stability of skeletal structures and each buckling analysis theory.3. The mobile platform of steel band parallel robot at different heights, polar angle at the range of0°-60°of three-dimensional simplified model of the critical load200N process eigenvalue buckling analysis (the same below), and list the instability of position of deformation figures that the mobile platform under different height levels; Finally, compare and analysis the instability of position of all height levels.4. Build the three-dimensional simplified model of steel band parallel robot mobile platform at different height levels, polar angle at the range of0°-60°, using the command stream on ANSYS classic and processing nonlinear buckling analysis of the critical load200N, and then list the instability of position of the VonMise stress and deformation figures which mobile platform under different height levels; eventually also compare and analysis the instability of location of all height layers.5. Based on chapter3and chapter4to implement coordinate transformation different heights levels and various of the polar angle of instability of polar radius of the resulting datas, then draw two sets of the instability of position of distribution figures which the mobile platform under different height levels and instability of workspace graph through all coordinate transformation datas, in the end, compare and analysis the different obtained results in detail.