The Coal Sampling Arm Kinematic And Dynamic Analysis Based On The Virtual Prototyping

The performance and reliability of the coal sample manipulator will have a directimpact on the performance of the machine. The increase of coal led to the increase oftraffic on the increasingly high demand for coal sampling, in the future mechanizationsampling instead manual sampling imperative. In order to achieve real-time control ofthe sampling arm and automatic sampling, it is necessary to promote the coal samplemanipulator design level though doing system research on it, under this background andcombing the actual project, the kinematics and dynamics of the coal sample manipulatorare researched. The main research works as follow：The development of coal sample and research on manipulator are surveyed. Thestructure and working characteristics are analyzed. And the meanings of the thesis arepointed out. The link coordinate system of the coal sample manipulator was established,and the coordinate system was varied in order to analyze static stress in manyconditions for its structure.The solid elements of big arm, forearm was established, analyzing typicaloperating conditions of static stress analysis, in order to receive dangerous workingconditions within the scope of work.First of all, The coal sample manipulator of rigid model was established inADAMS, Through the software ANSYS and ADAMS, The rigid-flexible virtualprototype of the coal sample manipulator which the big arm, forearm and telescopic armare flexible is constructed. Comparing the two models, the differences and relations ofthe rigid model and rigid-flexible was received. The paper makes dynamic Strength,modal analysis and shock response analysis for assembled working mechanism.Combined with the dynamic characteristics of the coal sample manipulator, undervarious conditions of structural parameters on stress was obtained, the subsequent structural dynamic optimization design of the theoretical foundation was provided.According to the actual needs of the project, Through the kinematics and dynamics ofthe coal sample manipulator was analyzed, And it provides reference and design ideas forlater similar structural designs. It is a very important practical value.