Dynamic Analysis And Simulation Of Assembly And Disassembly Arm In The Protective Layer Of Target Chamber

The paper is based on the range assisted tooling project of the “SG-?” project.The equipment analyzed in this paper is used for the positioning and dismounting of the internal protective plate(protective layer)of the target chamber.In response to the demands on the installation and disassembly of the large number of protective layers in the target chamber interior wall,the complex of working environments of the target chamber and high requirements on the working efficiency and precisions,the paper performs the dynamics analysis and simulation to the equipment before obtaining the end displacement and vibration curves,which provides references for the follow-up control theory.The author firstly analyzes the working methods of each component in the system and the DOF motion system it provided and decomposes it into a coarse positioning mechanism with rigid displacement and a fine positioning and adjusting mechanism with small displacement.Inverse kinematics is performed according to the position matrix of the point the protective layer placed.The relationship between the displacement and angle of the electric cylinder is deduced by taking the differences between the physical model and the mathematical model into account.Constant velocity motion law,constant-acceleration,constant-deceleration and constant velocity combined motion law as well as sinusoidal and constant velocity combined motion law are designed for the three typical operating conditions and also compared and analyzed through dynamic equations.In order to determine the trajectory of the endpoint of the whole mechanism during the movement,this paper uses the Rayleigh-Ritz method to model the coarse positioning mechanism of the system.The steps are as follow: fetching five-level vertical telescopic boom without rigid body displacement as the same flexible component and oscillating telescopic boom as individual component respectively;utilizing MATLAB programming to build its mass matrix,stiffness matrix and constraint matrix of the system;bringing three kinds of motion law into the three typical operating conditions;using the generalized ? method to solve the equation and to obtain the motion trail of the endpoint.ADAMS/Autoflex module is used to model and simulate the model.ADAMS simulation trajectory is compared with the expected trajectory and theoretical calculation trajectory for selecting the optimal motion law.The work of the fine-adjusting mechanism of the endpoint will cause the system to receive impact load as long as the equipment reaches the designated position.Analyzing the response of the system to the impact it received at the endpoint by using the modal synthesis method,this paper chooses the operating condition of oscillating telescopic boom in horizontal position as the research focus and divides the telescopic boom into several units for increasing its precision.Natural frequency of the structure is calculated by using the Shou-nien Hou method and Craig-Chang method respectively and also compared itself with the ANSYS analysis result afterwards.Finally,Craig-Chang method is adopted and brought into the Rayleigh damping factor to calculate the oscillating response of the endpoint under the impact load at six degrees of freedom.After comparing it with the transient dynamics analysis result of the ANSYS model,the accuracy of the model was then verified.