Design And Analysis Of The Controllable Mechanism With Two Telescopic For The Maintenance Robot

As an important part of the development of China's industrial modernization, the maintenance robot is gradually applied in various fields of industrial production. But, with the improvement of technology, the maintenance robot, such as low flexibility, clumsy, small working space and other issues, have become increasingly prominent. Controllable mechanism is an important branch of modern mechanism, and the telescopic mechanism is an important structure in mechanical engineering. How to combine the two mechanisms to generate a task oriented and flexible robot mechanism is an effective way to solve the existing problems of the maintenance robot. And the mechanism which is controllable, adjustable, scalable can realize the flexible output function of the large space and be applied to the concrete engineering practice.The problems existing in the design and application of the maintenance robot are researched to design a controllable mechanism with two telescopic for the maintenance robot in this paper. Then the kinematics and dynamics of the mechanism are analyzed based on the rod group method and the Lagrange equation method.Firstly, the configurations of four bar mechanism and five bar mechanism are analyzed to choose reasonable five bar linkage mechanism and crank slider mechanism. And the mechanisms are combined together to determine the configuration of the structure, and then the rationality of mechanisms designed are analyzed. Then the mechanism coordinate system is established and the kinematics of mechanism are analyzed to build displacement, velocity and acceleration equations of the mechanism's output based on the linkage group analysis method and the complex vector method. The numerical simulations and analyses are given by using MATLAB to obtain images of the position, velocity and acceleration of the mechanism's output under different input functions. And the results are compared and analyzed. According to the velocity equation, the singularity of mechanism is analyzed by using the Jacobian matrix to obtain possible singular configurations. Under this premise, the mechanism working space is simulated and analyzed to establish the plan of working space based on the traversal method. Secondly, according to the established coordinate system, the position function and the velocity function of the center of mass of each member of the mechanism are determined. And the expression of the potential energy and the kinetic energy of each member are established. So the total expression of the potential energy and the kinetic energy are established. Then the dynamic model of mechanism is established based on Lagrange equation method and the equation was solved numerically by using fourth-order Runge-Kutta method and the numerical simulation analysis is made by using MATLAB. At last, by using the Motion Pro/Mechanica module in Pro/E, the virtual simulation analysis of the mechanism is carried out, including the kinematics virtual simulation and dynamic virtual simulation. Then the simulation results are compared with the numerical simulation results of kinematics and dynamics to check the correctness of the numerical model and the rationality of the mechanism design.