Dynamic Analysis Of Heavy-Duty Manipulator And Optimization Design Of Key Component

There are many characteristics in heavy-duty manipulator:heavy load, large inertia, multi-degree of freedom and so forth. It coordinates with processing equipment, and can greatly enhance the manufacturing ability, processing precision, productivity and material utilization. However, it costs a lot of money and a long period of time to design and produce one heavy-duty manipulator. Since the heavy-duty manipulator is always designed and manufactured case by case, it is impossible to verify of its operational performance by physical prototype experimental analysis.With multi-body system theory, numerical simulation and other methods, the dynamic analysis is executed based on multi-body system theory in this paper. In addition, the weight of clamps takes up ten percent of the manipulator's weight. Fracture and other damages sometimes appear during the normal work of manipulator, which has a bad effect on work process. As the key component of the heavy-duty manipulator, the clamps are optimized based on the optimization design technology.Firstly, dynamic characteristic analysis is conducted on virtual prototyping of manipulator, based on multi-body dynamic theory. Several aspects are considered:the effect of driving function; components with large inertia; rigid-flexible coupled characteristic and additional overturning moment. Secondly, the multi-condition finite element analysis is performed to obtain the stress distribution results, stress level, strain and other information. Meanwhile, the result of FEM analysis can work as the basis of structural optimization design. Thirdly, with the topology optimization theory, the topology optimization of the clamps under multi-working conditions are carried out. The result provides optimal load path and material layout. According to the material layout, a new design of the clamped is obtained, which is then redesigned by size optimization on APDL language of ANSYS software. Finally, the strength and other aspects are checked to validate the new design.