Abstract:

A swing-arm transport mechanism was designed on the basis of the analysis of constraints during the transfer process of inspections, the theoretical analysis and numerical calculation were conducted for the mechanical characteristics caused by serious work conditions by using kinematics and dynamics and the forces of hinged joint on the components were obtained, and every structure part was designed in initial conditions of the obtained forces and the development of prototype machine was finished. The results of theorefical calculation and physical and numerical experiments show that the theory and simulation calculation model are correct and effective, the structure designs are reasonable, and the plan of transfer is feasible. This provides a solid foundation for the follow-up engineering.

Key words: transport mechanism, swing-arm, mechanical property, simulation analysis

摘要：

基于巡视器转移过程约束条件的分析,设计了一款摆臂式转移机构,运用运动学和动力学的原理对该机构所预计到的恶劣工况的力学特性进行了理论计算和数值仿真分析,获取了各个部件铰接点的宏观力。以此为各个构件设计的初始输入条件,对转移机构进行了设计,完成了原理样机的研制。理论计算、数值试验和样机试验结果表明,理论和仿真计算模型正确有效,结构设计合理,转移机构方案切实可行。

关键词: 转移机构, 摆臂式, 力学特性, 仿真分析