Two Multi-DOF Manipulator Design Lift

Secondary lift multi degree of freedom mechanical system are specially designed for air launch main pump assembly of mechanical arm. Mechanical arm in the process of assembly, mainly complete removal of main pump and assembly. Design of manipulator is presented in this paper, according to the mechanical arm manipulator configuration mode and the actual working situation, put forward the project of the secondary lift and multiple degrees of freedom. Secondary elevator system design, reduce the mechanical itself takes up space and increase the actual work space; The design of multi degree of freedom, the movement of mechanical arm is more flexible, ensure the accuracy of the assembly. In this paper, the concrete research content is as follows:According to the airlines to launch the actual situation of the main pump assembly, a preliminary understanding of mechanical arm development present situation, access to the existing mechanical arm's main job is to understand. The application of mechanical arm in the existing mechanical assembly, in the automotive industry is more, the application in aviation and shipping, etc. And this article is a mechanical arm in the air on a main pump assembly design research of the application. First of all, according to the existing main configurations of mechanical arm, analysis the advantages and disadvantages of various configurations, the main parameter selection in this paper, combined with the mechanical arm way of mechanical arm main configurations. At the same time, the drive of mechanical arm.In the overall structure of the design process, analyses the composition of the system structure and the movement principle. With CAD and Pro/E software entity model is set up. Using the d-h method to establish the coordinate system of mechanical arm. By using the method of forward solving the Jacobi matrix of the robot hand, to determine the location and the correctness of the path of manipulator to give theoretical support. Applied mechanics analysis method of main parts of mechanical arm strength calculation.At the end of this paper, using the method of finite element analysis, the components of mechanical arm statics analysis and modal analysis.