Structural Design And Analysis Of Multiple-Scissor-Linkage Arm

As a many-degree-of-Freedom automation equipment, the articulated industrial robots gained popularity by domestic and international enterprises for a long time. However, they had many aspects that need improve. On the one hand, the movement speed and working radius of articulated industrial robots had large room to improve. So we could further improve the working efficiency of the robot. On the other hand, the cost, arm’s weight and dependence of the reducer of articulated industrial robots had large room to reduce. Therefore, the development direction of industrial robots is that how to improve the traditional robots to make them retain the original advantage and play a bigger role.Put all aspects of industrial robots’ improvement above together, we proposed a multiple-scissor-linkage arm. This new arm could instead of the upper arm and lower arm of the industrial robot. The scissor-linkage structure belonged to the category of deployable structure. It had been widely used in the fields of aerospace, engineering, and life, with advantages of modular structure, good stretching performance, high stability, simple configuration, high rigidity and low cost.1. This paper had ensured the kinematic scheme according to the design requirements and performance parameters. Then this paper had ensured the basic structure of the mechanical arm, according to the kinematic scheme. Finally, this paper had drawn the kinematic sketch of the organization according to the basic structure.2. This paper had designed and analyzed the multiple-scissor-linkage arm, including designed and analyzed the scissor-linkage unit and designed the multiple-scissor-linkage. The concrete process was that this paper designed and analyzed the scissor-linkage unit firstly, then this paper designed the multiple-scissor-linkage, and this paper finished the virtual assembly and inspection of the above structures finally.3. This paper had done kinematic analysis for the multiple-scissor-linkage arm, including completed the forward kinematic and inverse kinematic analysis. Then this paper had simulated and analyzed the multiple-scissor-linkage arm applying ADAMS. According to the simulation and analysis above this paper could get the conclusion about multiple-scissor-linkage arm’s motion and the performance of the driving source.4. This paper had accomplished finite element static and modal analysis of multiple-scissor-linkage arm accurately. This paper could get the distribution of stress and strain and the maximum stress section (the most dangerous area) when multiple-scissor-linkage arm bearded the load of 25kg according to the static analysis. Then this paper optimized the structure design. This paper could get the design scheme to avoid the phenomenon of resonance according to the modal analysis.