基于RecurDyn的机械主从机械手旋转关节动力学建模及受力分析

Moon-woo Park, Sang-seok Lee, Dae-Chul Jang, Hyeon-seong Kim, Pyeong-Ung Jeong
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引用次数: 0

摘要

本文给出了用于放射性物质远程搬运和核加工的机械主从机械手从臂旋转关节动态反作用力的仿真结果。在RecurDyn的多体动力学(MBD)仿真软件中建立了机械手的动力学建模,验证了在最大搬运载荷条件下,其从臂转动关节上的齿轮齿接触力和轴承反作用力。对旋转关节、二级齿轮传动的详细零件进行了建模;一个锥齿轮副和另一个正齿轮副,以及两个支撑滚动轴承的机械性能定义。作为受力分析的结果,给出了用于改进机械手关节设计的齿轮和轴承上的反作用力。
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Dynamic Modeling and Force Analysis on Revolute Joint of Mechanical Master-Slave Manipulator using RecurDyn
This paper presents a simulation result of dynamic reaction forces on the slave-arm revolute joint of the mechanical master-slave manipulator for remote handling of radioactive materials and nuclear processing. The dynamic modeling of the manipulator is established in the multi-body dynamics(MBD) simulation S/W of RecurDyn to verify the gear tooth contact force and bearing reaction forces on the revolute joint of its slave-arm on condition of the maximum handling load. For modeling the detailed parts of the revolute joints , two stages gear transmission; one bevel gear-pair and the other spur gear pair, and two support rolling bearings are defined with mechanical properties. As results of the force analysis, the reaction forces on gearing and bearings which are used to address the improvement of the joint design are shown for the manipulator.
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