CAJ | 학술논문

主从机械手是实现遥控维护的关键设备，研制适合的遥控维护的主从机械手是遥控维护系统建设的重要内容。为了优化主从机械手的结构设计，对遥控维护主从机械手进行了动力学分析。通过建立主从机械手的整机有限元模型，进行整机静力学预分析；通过模态分析，计算出主从机械手的前6阶的固有频率以及相应的振型，分析得出主从机械手的薄弱零部件，为结构的优化设计提供了有益的结论。
주종궤계수시실현요공유호적관건설비，연제괄합적요공유호적주종궤계수시요공유호계통건설적중요내용。위료우화주종궤계수적결구설계，대요공유호주종궤계수진행료동역학분석。통과건립주종궤계수적정궤유한원모형，진행정궤정역학예분석；통과모태분석，계산출주종궤계수적전6계적고유빈솔이급상응적진형，분석득출주종궤계수적박약령부건，위결구적우화설계제공료유익적결론。
The master-slave manipulator is a key device to realize remote maintenance .The development of master-slave manipulator suitable for remote maintenance is important to construct a remote maintenance system .In order to optimize the structure design of the master-slave manipulator , we use the finite element modal analysis technology to perform the dynamics analysis for the master-slave manipulator .Firstly, we construct the finite element model of the whole machine master-slave manipulator and perform static preliminary analysis .Subsequently , we perform modal analysis and determine the first six order natural frequencies and corre-sponding vibration modes of the master-slave manipulator .Consequently , we determine the weak parts in the master-slave manipula-tor according to the modal analysis and thus provide evidence for optimizing the structure and parameter design .