破拆机器人液压手腕的刚柔耦合分析

液压手腕是针对破拆机器人多功能需求研发出的一种新型快换装置,其可以根据需要进行摆动和旋转,以适应在不同工况下工作。液压手腕装置和其连接的机械臂在制动时具有很大的制动加速度,从而产生较大的冲击力,此冲击力对液压手腕装置的强度影响较大。本文基于HyperMesh和ADAMS软件建立了某破拆机器人液压手腕刚柔耦合模型,分别分析了不同制动加速度对相对薄弱的上连接架的强度影响。分析结果表明,制动加速度对液压手腕装置的上连接架强度影响最大,此结果为液压手腕装置的设计及改进提供理论依据,并为机械臂和液压手腕装置操作规范的制定提供理论依据。

RIGID-FLEXIBLE COUPLING ANALYSIS ON HYDRAULIC WRIST OF DEMOLITION ROBOT

Hydraulic wrist is a new type of quick change device which is based on the demand of the demolition robot. It can swing and rotate according to the demand. Because of the great acceleration of the hydraulic wrist and the mechanical arm, the impact force is larger, which has a great influence on the strength of the wrist device. In this paper, based on HyperMesh and ADAMS software, the rigid flexible coupling model of a robot is established, and the influence of different braking time on the strength of the upper connecting frame is analyzed. The results show that the different braking acceleration has a great influence on the strength of the upper connecting frame, which provides a theoretical basis not only for the design and improvement of the hydraulic wrist, but also for the operation of the mechanical arm and the hydraulic wrist.