Structural Design and Stiffness Optimization Method of Super Large Telescopic Manipulator

It has become an important measure to clean up the inner wall of ash silo regularly. The existing ash silo cleaning robot have many problems of working range limitation and inadequate machine rigidity. Through the design of a synchronous telescopic drive mechanism based on rope row, and combining a lightweight multi-section box arm with high stiffness and flexible circumgyration joints, an all-domain ash silo cleaning robot based on a super large telescopic manipulator was innovatively proposed. On this basis., through in-depth mechanical analysis., the telescopic brachial mechanics model was established and the stiffness conditions were presented. The cross section parameters of telescopic manipulator were optimized by iteration method to obtain the optimal cross section parameters under different conditions. The experiment results show that the overall stiffness of the telescopic manipulator is enough and meets long-time working requirements of the robot.