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拆除机器人是为了适应高温、高辐射、高噪声等恶劣工作环境而开发的一种遥控多功能作业机器人,广泛应用于水泥行业和冶金行业中的拆除工作以及在抢险救援工作中对剧毒化学物质泄漏、核物质泄漏的搬运与处理。对于这样复杂的机械设备,仅仅研究其中单个零部件的机械性能已经不能满足要求,有必要深入地研究其整机的动力学性能。以某型号的拆除机器人为研究对象,首先利用Pro/E软件建立了其三维实体模型,通过Pro/E与ANSYS的接口将其导入ANSYS中,并通过节点耦合的方式处理机构连接,从而建立起了整机的有限元模型,运用Lanczos法对该有限元模型进行了求解,获得了整机的前10阶固有振动频率和模态振型,为进一步进行动力学分析奠定了基础。
Demolition robot is to adapt to the high temperature, high radiation, high noise and other harsh working environments and the development of a remote control multi-function operating robot, widely used in the cement industry and the demolition of the metallurgical industry and rescue work in the highly toxic chemicals Leakage, handling and disposal of nuclear material leakage. For such a complex mechanical equipment, the mere study of the mechanical properties of a single component can not meet the requirements, it is necessary to thoroughly study the kinematic performance of the machine. Taking a demolition robot of a certain type as the research object, the 3D solid model was established by using Pro / E software and imported into ANSYS through the interface of Pro / E and ANSYS, and the mechanism connection was processed by means of node coupling so as to establish Finite element model of the whole machine was solved by using Lanczos method. The first ten natural frequencies and mode shapes of the complete machine were obtained, which laid the foundation for further dynamic analysis.