Design And Analysis Of Mobile Articulated Type Power Assisting Manipulator

Based on the current development situation of power assisting manipulators at home and abroad,this paper designs a mobile articulated power assisting manipulator.The power assisting manipulator has two working states:no-load working state and load working state.lt can automatically switch working status depending on whether there is load.In the mechanical structure,the manipulator adopts a multi-joint design,and aerodynamic balance devices are respectively installed on the postbrachium and the antibrachium.lt can realize the gravity balance of materials with different weights and make the material in the floating state in the three-dimensional space,achieving the effect of balance with position.lt is suitable for the transfer of materials precisely.First of all,according to the development status and research level of domestic and foreign power assisting manipulators,the current mainstream power assisting manipulators were studied and compared,and the idea of a mobile articulated power assisting manipulator was proposed.According to the design requirements,the structural scheme was chosen.According to the design scheme,the Solidwork software was used to parametrically model the components,and each component was assigned material properties.Then the assembly was assembled according to the assembly relationship to obtain the 3D virtual prototype of the power manipulator.And the Monte Carlo method was used for the simulation analysis of its workspace.According to the overall structure size,with the goal of minimizing the driving force of the cylinder,the Nonlinear Programming Genetic Algorithm was used to optimize the balance device of the postbrachium and the antibrachium respectively by MATLAB,then the optimal installation parameters were obtained.And the images of the pressure required for dynamic balance of the cylinder for the postbrachium and the antibrachium was output with full load 200kg.For the problem of dynamic balance,the schemes of pneumatic drive and pressure control were analyzed and designed.The dynamic simulation of manipulator was completed by Adams,and the change curve of contact force for the key position was obtained and analyzed.Finally,according to the results of dynamics simulation,the key parts of the manipulator are imported into the ANSYS Workbench for static analysis,then the stress,strain and displacement contours are obtained to verify whether the strength requirements ean be met.