Modal Analysis And Optimization Of The Cleanrobot

In the field of high altitude cleaning industry, it is urgent for a kind of intelligent operation to replace manual cleaning. Therefore, the application of robot in cleaning field has been more and more concerned. The cleaning robot for glass curtain wall is mainly to meet more and more cleaning requirements of high-rise building of glass curtain wall. In this paper, a new kind of cleaning robot for glass curtain wall designed by the author is studied and analyzed, include moving and cleaning attitudes.Firstly, the mechanics model is established, and the stress situation of two kinds of working attitudes is analyzed. The statically indeterminate equilibrium equations of two kinds of attitude are solved by different methods, in order to obtain the constraint relation between the sucking force and the wind load in two attitudes. On the basis of analysis of the most disadvantageous wind load, the corresponding static finite element simulation analysis is carried out under the most unfavorable wind load condition.Then, the dynamic characteristics of the robot body are analyzed. Two kinds of working posture of the robot are analyzed, in order to obtain modal frequency and mode shape of the first six order. On the basis of the above analysis, the ability of the robot body to bear random vibration and periodic load is analyzed. A series of simulation results are obtained for a given power spectral density curve and a sinusoidal load of different frequencies in different directions, and the parts that need to improve the dynamic performance are analyzed.In order to improve the stability of the robot, mainly improving the structural stiffness, reducing the stress concentration, the optimal design of some key components is necessary. Compared with the dynamic characteristics before optimization, the dynamic characteristics after optimization arrive the target settled.