Design And Simulation Analysis Of Spraying Manipulator

To take measures against surrounding rock wall in the modern tunnel engineering shotcrete and rock bolt support has been widely adopted. As the initial supporting equipment for tunnel, spraying manipulator has been developed rapidly in recent years. This paper introduces the shotcrete support and spraying manipulator’s basic theory, the comparison between artificial and mechanical spray technology, the research and development prospests of spraying manipulator. Then structures of spraying manipulator are designed, and3D model is established by Solidworks.The kinematic analysis in this paper mainly introduces spraying manipulator kinematic epuation by D-H method. The forward and inverse solutions of the kinematics are discussed, which is based on the kinematic epuation.And verified that motion equations of main arm and lower arm is correct and meet the design requirements by solving and analyzing motion equations of main arm pitch and lower arm fold.The dynamic analysis in this paper introduces manipulator dynamic equation, and then introduces virtual prototype technology and the application of ADAMS software. At first, the3D model is imported into ADAMS software for dynamic analysis. Secondly, the simulation method is used to calculate stroke, velocity, acceleration and force of manipulator joints. At last, the curves in the whole movement are obtained, which provides a theoretical basis for the finite-element method and modal analysis.The finite element analysis in this paper introduces the basic principles of finite element method, optimization techniques to model, and the finite element model of the manipulator arms. First, the static analysis is conducted, and the design and security needs are verified. In three typical work conditions, the hinge point force of spraying manipulator is calculated by ADAMS software, which determines the dangerous operation condition.Then the most dangerous working conditions of the manipulator are analyzed by finite element analysis and Solidworks Simulation. The result of static analysis is obtained when manipulator is in the most dangerous condition, including distribution of stress, displacement and strain. Verified that strength and rigidity of main arm meet requirements or not. Finally modal analysis to manipulator by ANSAS is conducted.