Theoretical Search And Simulation Analysis Of The Pneumatic Balance Assisted Mechanical Arm

Pneumatic power balance manipulator is widely used in the assembly of parts and components of large volume and heavy weigh,which not only saves a lot of manpower and resources and raise the efficiency of labor and increase economic efficiency,it is more important to achieve high frequency materials handling,,accurate positioning and precision parts and components assembly.Therefore,the paper designs a steering machine pneumatic balance assisting mechanical arm,which is applied to the installation of t the automobile steering machine.Through theoretical and simulation analysis combined with the actual use effect,it provides a theoretical reference for optimizing the structure and machiningmechanism.The modified D-H method is used to establish connecting rod coordinate system of the pneumatic balance assisted mechanical armin the second chapter,kinematic process ofthe pneumatic balance assisted mechanical arm is analyzed by using the theory of system,the homogeneous transformation matrix is used to analyze Kinematic positive solutions equations and Kinematic inverse solutions equations and solve the Jacobi matrix.The second Lagrange equation methodis used to establishtheory model of the pneumatic balance assisted mechanical arm in the third chapter,then position of connecting rod center of mass and moment of joint are solved,which providetheory basis for configuration design,rigidity check and control system.Firstly,ADAMS virtual prototype software is use to analyzethe pneumatic balance assisted mechanical armby simulationin the fourth chapter,through the simulation analysis of rotation angle,angular velocity and angular acceleration of each joint,it can obtain the simulation data of positive solutions of power manipulator kinematics.According to the driver the joint angular displacement,simulation data of Kinematic inverse solutions equations is solved and obtained.Secondly when dynamics simulation of the device is simulated,force and moment of the pneumatic power balance arm are analyzed mainly in order to obtain that force and moment change with different condition,for example no-load conditions and load conditions.Finally,the simulation data is analyzed in order to draw simulation diagram,which provides a theoretical reference for the optimal design of the pneumatic power balance arm and the mechanism parameters.The finite element analysis software ANSYS is used to analyze the stress,strain and total deformation of the column,parallel arm system and terminal arm system of the pneumatic balance assisting manipulator which are subjected to external load,gravity and bending moment,meanwhile,the maximum stress,the maximum strain and the maximum deformation are obtained.