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GTC-650型拆除机器人工作装置通过各个臂的液压缸伸缩运动来完成破碎拆除过程中的各种作业动作。动臂液压缸控制动臂与回转台相对位置,斗杆液压缸控制斗杆与动臂间的相对位置,小臂液压缸控制小臂与斗杆间的相对位置,锤头液压缸控制锤头与小臂间的相对位置。根据工作装置结构特点,建立了相应的数学模型,应用有限元分析软件ANSYS的参数化设计语言(APDL)编写了建立工作装置有限元参数化模型的程序,即给定任意工况的动臂液压缸、斗杆液压缸、小臂液压缸和锤头液压缸的长度,即可得到该工况下工作装置各铰点的坐标,建立不同工况下的工作装置的有限元模型,为拆除机器人工作装置在不同的工况下进行有限元分析提供了便捷的建模方法,提高了分析效率。
GTC-650 demolition robot working device through various arm hydraulic cylinder telescopic movement to complete the crushing and demolition process of various operations. The boom cylinder controls the relative positions of the boom and the swivel arm, the arm cylinder controls the relative position between the arm and the boom, the arm cylinder controls the relative position between the arm and the stick, and the hammer cylinder controls the hammer Relative to the arm. According to the structure characteristics of the working device, the corresponding mathematical model is established. The program of establishing the finite element parametric model of the working device is written by the parametric design language (APDL) of the finite element analysis software ANSYS. That is to say, given the boom hydraulic pressure Cylinder, arm cylinder, arm cylinder and hammer hydraulic cylinder length, you can get the coordinate of each hinge point of the working device under this working condition, and establish the finite element model of the working device under different working conditions, in order to disassemble the robot Finite element analysis of working equipment under different conditions provides a convenient method of modeling and improves the analysis efficiency.