Design And Analysis Of Installation-positioning Mechanism With 6-DOF And Heavy Load

The installation-positioning mechanism designed and analyzed by this object is used for the installation work of certain components of "SG" series device.This type of component has the characteristics of high quality,large volume,high installationpositioning precision and complicated working environment.In order to improve the installation-positioning efficiency and reduce the installation process of contact stress,This mechanism is also required to have a certain compliance function.Combined with the characteristics of light lifting machinery and industrial robots,designed the mechanism with 6-DOF and a certain compliance function.The key functional system is designed,the analysis of static mechanics,kinematics and dynamics is finished.First,According to the design of the positioning mechanism and the characteristics of the work environment,determined the rough in-situ scheme of the upper track and the scheme of the 6-DOF in series,completed the overall size of the installation of positioning agencies planning.According to the analysis of the force of the installation of positioning agencies,completed the structural design of the rotating joint,the transversal joint,the lifting joint,the abutment joint,the flap joint,the swivel joint,and the cage,determined the selection parameters of part of the motion pair,demonstrated the feasibility of the component pose judgment strategy with the sensor parameter as the "influencing factor".Then,completed design and analysis of system layout and working principle of the coarse positioning system based on laser displacement sensor and vision and precision positioning system based on force sensor.According to the requirements of compliance function,completed the rational design and functional analysis of the compliant system.established the finite element model of the installation positioning mechanism.Next,With the finite element analysis software ANSYS Workbench,Complete the static analysis of horizontal status and working status of 28.3°?35°?41.9°?54° and 58° on north and south hemisphere,Which provides the basis for the optimization of the structure of the installation and positioning mechanism.Completed the analysis of the modal frequency and mode of the first 6 steps of the mounting and positioning mechanism,Which provide a reference for the body vibration and anti-resonance.Completed the transient dynamics analysis,Whose results can confirmed each other with static analysis.Finally,established the D-H coordinate system of the installation-positioning mechanism.According to the Monte Carlo method,the working space of the organization is drawn,which proves the rationality of the institutional adjustment range,and solve the Jacobian matrix of the institution.Completed the process description of the system dynamics equation based on the Lagrangian method.Established the system dynamics model of the mounting and locating mechanism by ADAMS and determined the parameters of the spring balance device.Through the presence or absence of compliant systems,validated the need to design a compliant system and completed the analysis of the driving forces of the joints taking into account the contact force.