The Development And Dynamic Characteristics Research Of Compliant Disassembly Manipulator

Compliant disassembly manipulator which is used in special environment is a mechanical equipment in order to meet the need of nation’s significant project. The device is desigened to help completing the deformable mirror’s installation, disassembly and maintenance,which is aimed to realize the deformable mirror’s compliant hoisting, transportation and precise installation. The manipulator’s remarkable characteristics are maximization, compliant disassembly and precise emplacement, so the equipment is a typical flexible multi-body mechanical system. The elastic deformation of loading component has a important influence on the disassembly manipulator’s accuracy and stability. The traditional multi-rigid-body system dynamic method can’t meet the practical requirements. As a result, the accurate, efficient dynamics analysis method of flexible component ensured that the equipment’s safety and reliability.Firstly, in the view of the design requirements and special working environment of the equipment, we selected disassembling and assembling mechanical arm of the vehicle structure scheme and the solution of compliant hoisting of compliant disassembly manipulator, and conducted the device’s availability and safety verification analysis. Secondly, the finite element software ANSYS is used to check the strength, stiffness and stability of the whole vehicle system and main components. We also conducted the whole vehicle system’s modal analysis in three typical slewing condition and got the anterior six natural frequency and modal vibration type of the whole structure. The vibration characteristics of modal analysis is based on the rigid-flexible coupling dynamics of boom system. Subsequently, the paper focuses on the rigid-flexible coupling dynamics of boom system in range changing condition.Based on the virtual work form’s general equation of dynamics, we conduct rigid-flexible coupling system dynamic modeling for the manipulator’s boom system by relative description method. Firstly, the dynamic equations of flexible multi-body system were partly decoupled into motion equations of free rigid body element and precise elastokinetics equations of flexible element which considered the rigid-flexible coupling effect. Then, this paper gives multi-rigid-body dynamics equations which is based on equivalent method, multi rigid body dynamics analysis will lay a foundation for solving the coefficient matrix of rigid-flexible coupling dynamic equations. Finally, we can obtain the system’s rigid-flexible coupling dynamic equations by the coordinate system transformation method and finite element system integration method.The rigid-flexible coupling system dynamic equations of boom are characterised by time-varying, Strongly Nonlinear and strong coupling,an efficient and practical method for dynamic analysis of plane beam and column system is presented. According to the above efficient method, the rigid-flexible coupling system dynamics analysis program were compiled based on the Intel Visual Fortran 2013, Finally, the dynamic response curve of boom system which considered rigid-flexible coupling effect is obtained by the numerical simulationThis paper is mainly conducted rigid-flexible system coupling dynamics analysis of compliant disassembly manipulator’s boom system, the dynamic research will provide the theoretical basis for the movement’s stationarity,safety and trajectory’s accurate control on other similar disassembly mechanical equipment.