液压重载机械臂关节结构优化研究

Research on joint structure optimization of hydraulic heavy-duty manipulator

针对液压重载机械臂刚-柔耦合特性对机构设计带来的巨大挑战,采用动力学分析对机械臂进行了仿真,并提取了关节载荷谱。在综合考虑关节轴圆角、台阶位置、台阶结构等多种因素影响的基础上,完成了平摆关节的结构非线性分析和优化设计,有效提升了关节强度和安全系数。经现场应用验证,关节优化后的液压重载机械臂在额定负载下运行良好,满足了实际作业需求。

In view of the great challenge to the mechanism design brought by the rigid-flexible coupling characteristics of the hydraulic heavy-duty manipulator,the manipulator was simulated and the joint load spectra was extracted by using dynamic analysis techniques.At the same time,on the basis of comprehensive consideration of joint shaft fillet,step position,step structure and other factors,the structural nonlinear analysis and optimization design of pendulum joint were completed,which effectively improved the joint strength and safety factor.The field application showed that the optimized hydraulic heavy-duty manipulator ran smoothly and well under the rated load and met the actual operation requirements.