Structural Design and Stiffness Optimization Method of Super Large Telescopic Manipulator
- Resource Type
- Conference
- Authors
- Wang, Chaoshuo; Ma, Shengnan; He, Shaoqing
- Source
- 2022 IEEE 10th Joint International Information Technology and Artificial Intelligence Conference (ITAIC) Information Technology and Artificial Intelligence Conference (ITAIC), 2022 IEEE 10th Joint International. 10:1407-1413 Jun, 2022
- Subject
- Communication, Networking and Broadcast Technologies
Computing and Processing
Engineering Profession
Robotics and Control Systems
Signal Processing and Analysis
Analytical models
Shape
Optimization methods
Ash
Arms
Manipulators
Cleaning
cleaning robot
power plant ash silo
telescopic manipulator
structural design
stiffness model
stiffness optimization
- Language
- ISSN
- 2693-2865
It has become an important measure to clean up the inner wall of ash silo regularly. The existing ash silo cleaning robot have many problems of working range limitation and inadequate machine rigidity. Through the design of a synchronous telescopic drive mechanism based on rope row, and combining a lightweight multi-section box arm with high stiffness and flexible circumgyration joints, an all-domain ash silo cleaning robot based on a super large telescopic manipulator was innovatively proposed. On this basis., through in-depth mechanical analysis., the telescopic brachial mechanics model was established and the stiffness conditions were presented. The cross section parameters of telescopic manipulator were optimized by iteration method to obtain the optimal cross section parameters under different conditions. The experiment results show that the overall stiffness of the telescopic manipulator is enough and meets long-time working requirements of the robot.