Design And Analysis Of Cross Type Space Scissor-like-element Manipulator

With the arrival and development of industry 4.0 era,the application of intelligent mechanical equipment will replace artificial work,and industrial robots will become the core equipment of industrial production.At present,the research of industrial manipulator is in the stage of high-speed development,the Scissor-Like-Element(SLE)manipulator belongs to a special manipulator type.SLE deployable structure belongs to the field of deployable structure,which is widely used in space exploration,satellite communication and life.According to the functional requirements,it designs a new type of mechanical manipulator,called the cross type space SLE manipulator,which aims to meet the requirements of simple structure,able to bear complex loads,high rigidity and strength,large working range,high closing rate and so on.Firstly of all,based on the SLE deployable structure,the whole scheme of the cross type space SLE manipulator is proposed.According to its structural characteristics,selects the appropriate deployment mode and motion mode,explains driving method of the structural deployment.Then,determining the SLE element and SLE deployable structure reasonably,and completing the stress analysis and stability analysis.According to the theoretical calculation,the driving source is preliminarily selected,the overall model is established,and the parameter is calculated on the basis of the relevant technical indexes.After that,based on the finite element theory,the mechanical analysis of the cross space SLE manipulator is carried out by using ANSYS,that verify its mechanical properties,and obtain the influence trend of the size parameters on the mechanical properties,so as to improve and optimize the structure.At the same time,the modal analysis is also carried out to obtain the inherent characteristics of the whole structure,so as to prevent the occurrence of resonance phenomenon.Finally,the overall model of the cross space SLE manipulator is analyzed,including the forward and inverse kinematics theory analysis and ADAMS analysis.The reasonable motion scheme is set,and the relevant settings and constraints of the model are carried out to obtain the kinematic parameters,and the theoretical verification and optimization are completed.