The Study Of Manipulator On The Operation Of RCV Filter

Because of the characteristic such as light weight,low power consumption and easy to pick up,manipulators is widely used in space battle field,nuclear power and other fields.This article to ZGH RCV filter operating robot as the subject,designed a four dof modular manipulator with passive flexible wrist.In this paper,starting from the research tasks,combined with today's advanced mechanical arm structure characteristics,puts forward the structure design scheme of mechanical arm,mainly includes: the overall scheme of modular joints,high reduction ratio transmission scheme of large torque output,modular mechanical arm walk line approach,and then on the basis of the modular joint brake drive reducer for the reasonable selection.And the design of the modular joint parts in detail,finally to the strength of key parts and components.Because the RCV filter is longer,instrumentation within a cylinder,and the mechanical arm carry on the mobile car,there is a uncertainty error in the process of the move and location.In order to complete the pull RCV filter operation task,design a passive flexible wrist based on spring rotating module and design its structure in detal,calculate of the parameters of the spring.Through the ADAMS simulation of spring stiffness model,validate the rationality of the stiffness value.This design can effectively reduce the number of degrees of mechanical arm,control of the design more simple,and reduce the weight of the whole mechanical arm.Finally,deduce the kinematics of the four degrees of freedom mechanical arm,and by using MATLAB and ADAMS,verify the accuracy of the kinematics.