基于刚柔耦合模型采样臂动态仿真研究

摘要

基于多体动力学理论和拉格朗日方程，将煤炭采样机械臂中的大臂、小臂、伸缩臂考虑为柔性臂，结合Pro/E、ANSYS和ADAMS建立刚柔耦合模型，各个机构在单独动作或者联动过程中，对采样机械臂结构件应力分布进行观察，对应力较高的部位进行补强和完善，所得到的研究结果为采样臂结构优化和疲劳寿命奠定了理论基础。%Based on multi-body dynamics theory and the Lagrange equation ,this paper considers the big arm ,the forearm and telescopic arm of coal sample manipulator as the flexible arm, rigid and rigid-flexible coupling mode are respectively established combined with Pro/E ,ANSYS and ADAMS. In a separate action or linkage process ,the sample manipulator structure stress distribution were observed ,the high stress parts are reinforced. Research results provide references for the sample arm structure optimization and fatigue life.