摘要
为了满足矿井工作环境对换杆机械臂高可靠性和定位精度的要求,需要对其结构动静态特性进行分析。以换杆机械臂为研究对象,建立了其有限元模型,并利用软件对其进行了静力学分析、模态分析和谐响应分析。静力学分析结果表明,在最大载荷作用下,机械臂的定位精度和结构强度均满足设计要求。模态分析结果表明,机械臂的前6阶固有频率和振型与工作环境相适应,不会产生共振现象。谐响应分析结果表明,机械臂的动态载荷响应主要受第二、四阶固有频率的影响。分析数据为矿井下换杆机械臂的动态设计提供了参考依据。
In order to meet the requirements of high reliability and positioning accuracy for pole changing robotic arms in the working environment of mines,it is necessary to analyze their structural dynamic and static characteristics.The rod changing robotic arm were took as the research object,its finite element model was established,and static analysis,modal analysis,and harmonic response analysis were conducted when using software.The static analysis results indicated that under the maximum load,the positioning accuracy and structural strength of the robotic arm met the design requirements.The modal analysis results indicated that the first six natural frequencies and vibration modes of the robotic arm were suitable for the working environment and would not produce resonance phenomena.The harmonic response analysis results indicated that the dynamic load response of the robotic arm was mainly influenced by the second and fourth order natural frequencies.The analysis data provided a reference basis for the dynamic design of the underground pole changing robotic arm.
作者
李世杰
郭治富
高志强
LI Shijie;GUO Zhifu;GAO Zhiqiang(CCTEG Chinese Institute of Coal Science,Beijing 100013,China;CCTEG Taiyuan Research Institute,Taiyuan 030006,China)
出处
《煤矿机电》
2023年第5期7-11,17,共6页
Colliery Mechanical & Electrical Technology
基金
国家重点研发计划项目(2020YFB1214003)
山西省重点研发计划项目(2020XXX001)
中国煤炭科工集团太原研究院自立项目(F2022-BS02)。
关键词
换杆机械臂
静力学分析
模态分析
振动特性
谐响应分析
rod changing robotic arm
static analysis
modal analysis
vibration characteristics
harmonic response analysis
