树木喷涂机机械臂的设计及优化

Design and Optimization of the Robotic Arm of the Tree Spraying Machine

本文主要设计了树木喷涂机机械臂的结构,此结构主要由底部小车,连接传动部分,驱动控制系统组成,实现对树木喷涂工作,设计了大中小3种规格的机械臂,以及底部的小车。对底部车架进行了模态分析,并进行了优化,得到了车架优化前后的前四阶固有频率和对应的振型。优化后车架的固有频率远低于车架的工作频率,避免了车架在工作过程中因共振对结构造成破坏。并利用有限元软件对底部车架进行了优化设计和有限元分析,得到了其位移及应力分布。优化后车架的受力比原结构减少了1140.4 MPa。

This paper mainly designs the structure of the robotic arm of the tree spraying machine. This structure is mainly composed of the bottom trolley, the connecting transmission part, and the drive control system to realize the tree spraying work. Three sizes of large, medium and small robotic arms and the bottom trolley are designed. The modal analysis and optimization of the bottom frame were carried out, and the first four-order natural frequencies and corresponding mode shapes were obtained before and after the frame optimization. After optimization, the natural frequency of the frame is much lower than the working frequency of the frame, which avoids damage to the structure of the frame due to resonance during the working process. The optimal design and finite element analysis of the bottom frame were carried out by using finite element software, and its displacement and stress distribution were obtained. The force of the optimized frame is reduced by 1140.4 MPa compared with the original structure.