Design And Mechanical Analysis Of A Master–slave Manipulator

The first master-slave manipulator came into the world in the United States since 1940 s,because of its wide application,specific industries application and the huge economic value,has plays an important role in social production and life.Combining domestic and foreign remote manipulator development,,design a kind of six degrees of freedom telescopic,manual control,electric range extended Master-slave telecontrol manipulator in this paper.First of all,according the function to determine the mechanical transmission scheme.According to the transmission scheme,make further efforts to design concrete screw structure of manipulator in the execution unit and complete the selection of motor and other components.After complete the structural design,then solve the difficulty existing in the mechanical analysis of the master-slave robot key components.First of all,treat the pitch Angle of the elbow gear shaft as analysis object,gear shaft torsional vibration model is established,and its inherent frequency is calculated,its critical rotational speed is to avoid,and method to reduce the error of the gear shaft system is put forward.Secondly,the fan-shaped gear tooth surface model is obtained,the shaft system model is builted by Adams to get the operation condition of the fan-shaped gear torque as the load of finite element analysis.Through transient dynamic analysis,find the exact location of the maximum stress in the process of gear engagement,and this position is obtained by the adaptive mesh refinement method where the location of maximum stress and stress is obtained by stress linearization stress value at singular point.finally,Take the optimal force transfer performance as the goal and select the link with suitable size.To get the accurate stress weak place by using sub modeling method of finite element analysis method.By application of size optimization,to optimize the size of the paw paw and meeting the safety requirements of the design.What's more,according to the characteristics of mechanical arm large span,in order to reduce the manpower under the mode of energy input,reduce the labor intensity,makeing reasonable joint sequence of movements.Through the establishment of D-H robot coordinate system,with three spline joint function,joint function and the relation formula of mechanical energy hand,through the Matlab calculation in the movement to get the result of sequence of three spline joint function.Through mechanical analysis,has making the master-slave manipulator mechanical properties better,and improve the quality of the design.