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| The vibration characteristics of wet spraying machine manipulator gun |
| LIU Ya-Dong1, YANG Zhong-Jiong1,2, ZHOU Li-Qiang1,2, XU Jing1 |
1. College of Mechanical and Electrical Engineering， Central South University， Changsha 410083， China;
2. State Key Laboratory of High Performance Complex Manufacturing， Central South University， Changsha 410083， China |
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Abstract To improve the working performance of the manipulator of the wet spraying machine CHP30， the manipulator kinematic dynamic characteristics were obtained by using the DH coordinate method. According to the kinetic theory of rigidflexible coupling system， the rigidflexible coupling model of the manipulator was established; then through the rigid model of the manipulator and rigidflexible coupling model dynamics analysis in ADAMS， we obtained the location curve of the end portion of manipulator in each direction of the axis under different load cases. The simulation conclusion shows that the manipulator and concrete gravity dynamic load， and the injection force are the main reason of vibration， the maximum amplitude of vibration is 0.04 m and consistent with the actual situation. The degree of influence of the manipulator coming from the end portion of the ejection force changes with the injection orientation， when the ejection is side surface， the amplitude is largest， but the top side， the amplitude is minimum; and when the rubber feed pipe hangs in the two locks， it has small impact on the vibration. The simulation results are helpful to the design of the manipulator， also provide the theory basis for the trajectory planning and the fatigue analysis of the manipulator.
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Published: 28 August 2013
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湿喷机机械臂喷枪振动特性的研究
为了提高某公司生产的CHP30型湿喷机机械臂的工作性能，运用DH坐标法对该机械臂进行运动学分析；基于刚柔耦合系统动力学理论，建立了机械臂的刚柔耦合模型，利用ADAMS分别对机械臂的刚性模型和刚柔耦合模型进行了动力学分析，得到了不同载荷情况下机械臂末端在各坐标轴方向上的位置曲线.仿真结果表明：机械臂和混凝土的重力动载荷以及喷射作用力是其产生振动的主要原因，最大振幅约为0.04 m，与实际情况相吻合；端部喷射作用力对机械臂末端振动的影响程度因喷射方位的改变而变化，喷射侧面时，振幅最大，喷射顶部时，振幅最小；橡胶输送管悬挂在2个锁扣上时对机械臂的振动影响较小.仿真结果对湿喷机机械臂的设计有一定的指导作用，同时为机械臂末端的轨迹规划和机械臂的疲劳分析提供了理论依据．
关键词：
机械臂,
刚柔耦合模型,
动力学分析,
振动幅值
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