基于割灌机的机械臂设计与分析  

Design and Analysis of Robot Arm Based on Brush Cutter

作　　者：王慧[1] 于昊楠 张时雨 任长清[1] 马岩[1] 曲文[1] WANG Hui;YU Hao-nan;ZHANG Shi-yu;REN Chang-qing;MA Yan;QU Wen(Northeast Forestry University,Harbin 150040,China)

机构地区：[1]东北林业大学,哈尔滨150040

出　　处：《包装工程》2022年第9期150-156,共7页Packaging Engineering

基　　金：黑龙江省自然科学基金(TD2020C001);国家林业科学技术推广项目(2019〔10〕)。

摘　　要：目的针对我国部分地区在林间复杂环境中清林割灌及后续运输加工包装难度大的问题,设计一款具有高效割灌清林能力的灌木收割装置。方法对机械臂进行三维建模,利用ADAMS软件对机械臂进行动力学分析,并利用Ansys有限元软件进行静力分析和模态分析,得到机械臂的受力情况以及是否发生共振。根据得出的数据对机械臂的参数进行优化改进。结果对机械臂进行静力学分析得出,机械臂最大的应力为109.25 MPa,最大的变形量为8.0556 mm,机械臂产生的一阶最小频率为69.194 Hz。多变量的参数优化后得出最优参数值是中机械臂的长度为901.5 mm、臂厚为8.4 mm、铰接处的孔大小为52.2 mm、铰接处的厚度为7.22 mm。结论文中对机械臂的结构进行设计以及仿真分析,验证了机械臂在作业时强度和刚度的合理性。得出优化改进后的机械臂设计满足稳定性要求,对整个机器的运动过程有着重要的意义。该机器可广泛应用于林业采集和包装运输行业。In view of the difficulty of clearing forest,cutting irrigation and subsequent transportation,processing and packaging in complex forest environments in some areas of China,a shrub harvesting device with high efficiency of cut-ting irrigation and clearing forest was designed.The three-dimensional modeling of the manipulator is carried out,the dynamic analysis of the manipulator is analyzed by using ADAMS software,and the static analysis and modal analysis are analyzed by using Ansys finite element software,so as to obtain the mechanical condition and resonance of the manipu-lator.According to the data obtained,the parameters of the manipulator are optimized and improved.The static analysis of the manipulator shows that the maximum stress of the manipulator is 109.25 MPa,the maximum deformation is 8.0556 mm,and the first-order minimum frequency of the manipulator is 69.194 Hz.The results show that the length of the manipulator is 901.5 mm,the thickness of the manipulator is 8.4 mm,the size of the hinge hole is 52.2 mm and the thickness of the hinge is 7.22 mm.In this paper,the structure of the manipulator is designed and simulated to verify the rationality of the strength and stiffness of the manipulator in operation.It is concluded that the improved manipulator de-sign meets the stability requirements,which is of great significance to the whole moving process of the machine.The machine can be widely used in forestry collection,packaging and transportation industries.

关 键 词：割灌机 ANSYS 机械臂 林业机械 包装运输 

分 类 号：TB486[一般工业技术—包装工程]