The Design And Research Of Teleoperation Demolition Robot Working Device

The remote operation robot is a new type of dismantling robot, which is widely used in nuclear facilities, rertired, rescue, demolition industries and other high-risk industries. The working device is the direct executor of the removal of the robot, the rationality of the designed structure and reliability of the working process directly reflect the performance of the robot. Therefore, the research and design of the working device is very important.The research of the paper based on the small diesel excavator YC08-8 and Brokk50 demolition robot. Firstly, kinematic and dynamic analysis of the working device are made through the D-H and Lagrange methods, and establish the kinematics and dynamics equations;At the same time, demolition robot of excavating resistance are calculated and analysised, acquire the mining resistance formula. Secondly, establish three-dimensional entity model of the working device, including the three-type of mechanical arms, multifunction bucket, tool change device, etc. To obtain the kinematic and kinetic parameters, analysis the mining conditions, working conditio ns crawl kinematics and dynamics simulation of the demolition robot through the ADAMS software; besides, counducte the static strength analysis through the finite element analysis software ANSYS Workbench by the obtained kinetic parameters; Finally, acquires the fatigue life parameters through the static strength analysis of the robotic device stress fatigue analysis under constant amplitude loading.The paper successfully research and design the remote operation robot working device, and verifies the rationality and reliability design of the working device through some simulation analysis, and processes out the physical prototype, complete the entire design process.