Simulation And Finite Element Analysis Of New Working Device Of Hydraulic Demolition Robot

Hydraulic Demolition Robot is a high-end intelligent construction equipment which integrates water jet technology and robotic technology.It is mainly used in the demolition of concrete structures such as bridges,highways,tunnels and post-disaster houses.The working device,an important part of the Hydraulic Demolition Robot,is a system that directly completes the demolition task.At present,the structure of hydraulic disassembly robot working device abroad is simple and compact,but its working range is small and its flexibility is insufficient.Domestic Hydraulic Demolition Robot working device is designed based on the traditional Hydraulic Demolition Robot working device.Although it adopts three-arm structure,the working device is very heavy.In order to cope with the demolition work under more complex conditions,a new material and new structure working device was designed in this paper.The device consists of three arms and hydraulic wrist,and was made of light material.The main research contents were as follows:(1)The structure of the new Hydraulic Demolition Robot working device was designed,and the working device of the Hydraulic Demolition Robot was modeled by three-dimensional software to provide a virtual prototype for simulation.(2)The kinematics equation of the new type of working device was established by D-H method,and the kinematics simulation of the working device was carried out by ADAMS software.(3)The dynamic equation of the working device was established by Lagrange energy method,and the dynamic simulation of the working device was carried out by ADAMS software.(4)Using ANSYS Workbench software,the static simulation analysis of four different working conditions of the working device was carried out to check whether the strength and stiffness meet the requirements.On the basis of simulation results,lightweight materials were used to reduce the weight of the working device,and the modal analysis was carried out.The first six modes and natural frequencies of the working device under four different demolition postures were obtained to avoid resonance.The significance of the new working device of Hydraulic Demolition Robot liesin doubling its working range,improving its flexibility and adapting to the demolition operation under more complicated conditions;reducing the weight of the working device,making effective use of materials,reducing the manufacturing cost,and reducing the energy of driving parts play an important role in energy saving,emission reduction and efficient operation of construction machinery.