复杂载荷下大柔性多臂节机械臂架系统刚柔耦合动力学分析

Rigid-flexible Coupling Dynamics Analysis in Large Flexible and Multi-arm Mechanical Arm System under Complex Loads

为更加准确地研究复杂载荷下大柔性、多臂节机械臂架系统的动力学特性,提出基于刚柔耦合特性对臂架系统进行动力学仿真分析的方法。首先,根据臂架系统及部件的实际尺寸建立三维模型,并将臂架系统中弹性变形较大的转台,三、四、五节臂架考虑成柔性体;然后,在ANSYS WorkBench中建立臂架系统的刚柔耦合模型并进行仿真分析;最后,通过分析得到关键柔性体部件铰点的载荷受力曲线与臂架系统中柔性体部件的应力云图。分析结果表明:大柔性、多臂节机械臂架系统在设计中考虑柔性体因素进行刚柔耦合分析与工程实际更加相符,也可以更好地为臂架系统的改进与结构优化奠定基础。

A dynamic simulation analysis method is proposed based on the rigid-flexible coupling characteristics of the boom system considering the influence of flexible body factors.It is used to more accurately study the dynamic characteristics of the large flexible and multi-boom system under complex loads.Firstly,a three-dimensional model is established according to the actual size of the boom system and its components.Meanwhile,the turntable,the three,four and five booms with large elastic deformation in the boom system are considered as flexible bodies.Then,the rigid-flexible coupling model of the boom system is established in ANSYS Workbench and the simulation analysis is carried out.Finally,the load force curves of hinge points of key flexible body components and the stress cloud of flexible body components in boom system are obtained through the analysis.The results show that in the design the flexible body factor should be taken into account,since the rigid-flexible coupling analysis is more consistent with the engineering practice and it can lay a foundation for the improvement and structural optimization of the large flexible and multi-arm manipulator system.