Design And Dynamic Performance Of A New Cleaning Spent Anodes Machanism

Cleaning spent anodes machanism is the important automation equipment in the anode rodding shop of Aluminum industrial production line. The key technology belong to foreign. This paper studied and designed a robot of a new cleaning spent anodes mechanism for single anode. Also, the kinematics and dynamic analysis on the cleaning work robot were carried, at the same time, corresponding simulation and experiment were conducted. The main content of this paper has following several aspects:1. The actuality of Cleaning spent anodes machanism was expatiated.2. Based on similar robot configuration, the main body scheme designs were conducted separately. Also, the 3-D solid models of the robot were set up with the software of Por E.3. The kinematics analysis of the cleaning spent anodes robot model. A simple simulation based on D_H coordination system and modeling is performed by the tools of Matlab software on Simulink. The simulation analysis which not only provide base of the control and also build the fundation for future research.4. The rigid body dynamic analysis of the frist step of cleaning spent anodes robot. The establishment of the dynamic model was based on simultaneous constraint method. Then, the Matlab_Simulink software was used to make simulation calculation of the dynamic model. Simulation results show that the model is right.5. The flexible body dynamic analysis of the secdont step of cleaning spent anodes robot. The dynamic model of the secdont step of cleaning spent anodes robot was derived by Assumed mode method, Lagrange, Energy conservation law. Elastic deformation of robot effected on ontology pose and interna force by simulation experiment with Matlab_Simulink.In this paper, the completed robot scheme design, as well as the cleaning spent anodes robot's kinematics and dynamics analysis have made a premise foundation for futher research on the subject. Besides, some analysis and simulation methods in the paper would supply some experiences to the similar robot's development.