In this thesis,a robot arm mounted on a detection robot platform is designed for a special underground space under nuclear environment.The robot arm has the advantages of light weight,small cross-section,high precision,large load,and easy installation and replacement.Taking the robotic arm as the research object,the mechanical arm is designed and analyzed,and the mechanical arm is optimized based on the structural analysis.Firstly,the structure of the robot arm was designed,and the important elements such as the configuration of the arm,motor,reducer,and encoder were selected,and the whole arm was physically assembled according to the three-dimensional model of the arm.The forward and inverse kinematics of the new manipulator is solved with D-H coordinates,and the working space of the manipulator is obtained.The dynamics of the arms were deduced using Lagrange method and Newton-Euler method.The dynamics equations of the six-degree-of-freedom manipulator were obtained.The dynamic simulation of the manipulator was performed using dynamic simulation software.Each joint characteristic is compared with the design value to verify the rationality of the design scheme.Through the finite element software,the critical parts were checked for strength,the static characteristics of the robotic arm were analyzed and analyzed,and the vibration analysis of the dangerous conditions of the robot arm was performed.Based on the results of the vibration analysis,a multi-objective optimization design of the robot arm structure was optimized.The design effectively reduces the vibration of the robot arm and reduces the mass of the robot arm,improving the working performance of the robot arm.Based on the design and analysis results,a mechanical prototype was built and a test product table was mounted to verify the working performance of the manipulator.Experiments showed that the new manipulator meets the requirements of special working conditions. |