Structural Design And Optimization Of Vibrating Manipulator

As an important part of the box girder production process,the impact of vibrating quality on the permeability,frost resistance and durability of box girder cannot be ignored.At present,the box girder vibrating in China’s girder yards is basically done by manual vibrating or supplemented by simple vibrating machinery,which is labor-intensive,inefficient and does not guarantee the quality.In view of this,this paper designs a pounding robot arm for box girder pounding based on the operating environment of beam yard and box girder pounding process,and simulates and analyzes its kinematics,dynamics and static and dynamic characteristics on the basis of structural design,while focusing on the research of light weight of the robot arm based on the optimization of target drive size,and finally analyzes and verifies the stability of the whole machine.(1)According to the concrete vibrating process and the theory of robot arm modeling,the3 D modeling of the vibrating robot arm is completed.Based on the model dimensions,the DH parametric model of the robot arm is established,the solution of its forward and inverse kinematic equations is analyzed,and the kinematic equations are simulated and verified by Robotics toolbox.Finally,the point cloud workspace of the vibrating robotic arm is drawn based on Monte Carlo method to verify the feasibility of the model size.(2)The basic dynamic mathematical model of the vibratory arm is established,and the virtual prototype simulation model is constructed by ADAMS to analyze the forces at the articulation of the large arm and the middle arm under four working conditions,and the load at the maximum instantaneous peak is taken as the effective load at the articulation to obtain the load characteristics of the large arm and the middle arm.(3)Based on the load characteristics of the big arm and middle arm and the load condition of the whole machine,the corresponding finite element simulation model was established in Workbench to simulate the static and dynamic characteristics of the big arm,middle arm and the whole machine,and the results showed that the strength and stiffness of the three meet the design standard,and the inherent frequency and vibration type are also within the reasonable range and will not cause resonance.At the same time,the harmonic response analysis of the whole machine was further carried out to clarify the vibration characteristics of the whole machine under load.(4)The structural parameters of the large arm are optimized by the response surface method,and the mass of the large arm is reduced by 28.77% compared with the original model,while the middle arm is optimized by the direct optimization method,and the mass of the middle arm is reduced by 22.58%.The total mass of the whole machine is reduced by 15.33%,and its strength and stiffness are improved,and the inherent frequency and vibration pattern are within a reasonable range.(5)Based on the optimized vibratory arm model,the stability of the arm during rotation was analyzed in terms of the leg displacement and the stability coefficient of the whole machine by using the virtual prototype simulation technology and mathematical model inference method.The results show that the four legs of the arm are not raised during operation,and the stability coefficient is greater than the design requirement,so the arm will not overturn during operation.In addition,the maximum slope angle and rollover angle of the whole machine during the transit were also calculated.