Structure Design and Simulation of Robot Arm for Confined Space Inner Roadway Repair

摘要

In order to solve the problems such as low efficiency, heavy task, low mechanization and potential safety hazards in the process of underground roadway repair in coal mines, a multifunctional mechanical arm with large folding expansion ratio is developed to improve the roadway adaptability of the roadway repair robot and ensure that it can successfully complete the designated roadway repair task in the confined space. This paper introduces the structure composition, working principle and structural characteristics of the multi-functional roadway repair manipulator, and then uses the computer virtual simulation technology to verify the rationality and safety of the manipulator structure. The finite element analysis is carried out in the ANSYS Workbench environment, including the static analysis, dynamic analysis and modal analysis of the manipulator under two extreme working conditions. The analysis results show that the strength of the manipulator meets the requirements; The amplitude of the first six modes of the boom is too large, so it is necessary to increase the rib plate or the thickness of the plate at the appropriate position to improve its stability.