Three-Dimensional Design And Analysis Of Assembly Arm And End Actuator Mechanism

In the future racks are needed to be mounted in space capsule. Racks can carry some electric apparatus to assist tasks in space. But the hatchway of space capsule is so narrow that racks are hard to be put in. It has difficulty to convey racks by man because of big weight. Furthermore, it has low security in that collision of rack and space capsule body is easily taken place and damages these equipments. Based on these difficulties, rack installation robot should be applied to assembly racks. And mounting base can actualize horizontal travel, vertical up-and-down movement and rotation on vertical axis. The end actuator mechanism clutch at rack and convey it into space capsule by extension of assembly arm. Assembly arm and end actuator mechanism are the main research content in this paper.According to the technology index of rack assembly robot, based on the analysis of the research status of domestic portage inboard and rack assembly robots in foreign country, different extension way of assembly arm and some schemes of end actuator mechanism are put forward. One scheme of the end actuator mechanism is selected according to freedom and fine adjustment index. In addition, section shape of extension assembly arm was also selected according to the principle of diminishing deformation.Three-dimensional construction of extension assembly arm was designed according to extension way and section shape, and Pro/E three-dimensional models of all parts and static analysis were given. Furthermore, theoretical calculation on deformation of assembly arm was made, with consideration of affection of slide clearance.End actuator mechanism deploy the vernier control extension way which contains five inputting and five outputting. In the paper, we designed the three-dimensional construction of end actuator mechanism, and gave Pro/E three-dimensional models of all parts and static analysis. Besides, analyzing the stress of end actuator mechanism, and solving with MATLAB. End actuator mechanism was laid in ADAMS by interface software, completing dynamics simulation and giving stress curve, contrasting theoretical calculation and static analysis.The kinematics model of end actuator mechanism was built, and analyzing its kinematics. The kinematics equations of end actuator mechanism were given, and solved by MATLAB program. The workspace of end actuator mechanism was given. Furthermore, completing the kinematics simulation of end actuator mechanism by making three-dimensional construction of end actuator mechanism lay in ADAMS. Displacement curves of holds were given, and comparison with curves that generated by MATALAB.