Analysis And Optimization Of The Side Loading Assemble-calibrating Mechanism

In a large-scale project construction in the country,the side-mounted modules need to be loaded into the main device.There are many types of side-mounted modules,large quantities,high cleanliness,complex installation space,high positioning accuracy,and high loading and unloading frequency.This article aims at the requirements of loading and unloading tasks of side-mounted modules,and design a side-mounted tooling system that meet the requirements of installation of side-mounted modules and has certain accuracy and handling efficiency.This paper mainly deals with the analysis and optimization of the side loading assemble-calibrating mechanism that is the key part of the side-mounted tooling system.First,this article introduces the current research status of series mechanism,research status of stiffness and research status of optimization design,it also introduces and analyzes the installation object,installation process and functional requirements of the side-mounted tooling system.Based on this,the design idea of the side-mounted tooling systems is proposed,considers the on-site installation of the side-mounted modules,the overall design of the side-mounted tooling systems is determined,and make a detailed introduction of the side loading assemble-calibrating mechanism that was the key parts of the side-mounted tooling systems.Secondly,the D-H method is used to establish the linkage coordinate system of the side loading assemble-calibrating mechanism,and the kinematics Jacobian matrix of the side loading assemble-calibrating mechanism is analyzed and calculated.The Monte Carlo method is used to analyze the working space of the side loading assemble-calibrating mechanism with MATLAB software.Based on the previous analysis and calculation,the condition number in entire working space of the side loading assemble-calibrating mechanism is analyzed with MATLAB software,which proving that it has good dexterity of movement.Again,the joint stiffness matrix of the side loading assemble-calibrating mechanism is calculated by using the joint stiffness conversion method.The mapping model of joint stiffness to the end stiffness is analyzed,and the terminal stiffness matrix of the side loading assemble-calibrating mechanism is calculated.The static analysis of the side loading assemble-calibrating mechanism under two working conditions is performed through ANSYS Workbench software,the terminal stiffness of the side loading assemble-calibrating mechanism under two working conditions is obtained and compared with the analytical calculation results,verify the correctness of the analytical model calculation.Finally,the mechanical arm of the side loading assemble-calibrating mechanism is optimized through ANSYS Workbench,the static analysis of the mechanical arm is performed before and after optimization,it is found that the optimized mechanical arm under the condition of maximum deformation and maximum stress fulfil the requirements,the quality is obviously reduced.