Influence Factor of K Factor and Calculation of Extended Life of Handling Manipulator
Based on the knowledge of stress intensity factors,the fracture strength of handling robotic arm by sub-modeling technique and singular unit with the help of Workbench were studied.An elliptical surface crack finite element model was established at the coherent line of the base joint of the handling robotic arm,and the research on the influence of the gripping load and relative size of the crack on the stress intensity factor was carried out and the crack extended life calculation was carried out.It was obtained that:KⅠ and KⅢincreased with the increase of the gripping load,while KⅡdecreased with the increase of the gripping load.With the increase of the short and long semi-axes of the crack,the stress intensity factor of TypeⅠand TypeⅢincreased and then decreased and the corresponding stress intensity factor gradually increased,while that of Type Ⅱ decreased and then increased.The crack expansion rate of the crack at the two ends and in the middle section was different showing fast at both ends and fast at both ends,and the crack expansion rate was different showing fast at the two ends and fast at the middle section.Expansion rate is different between the two ends of the crack and the middle section,which is characterized by fast at both ends and slow in the middle,and the long half-axis size of the crack is more sensitive than the short half-axis size to the influence of crack expansion rate and the residual life surplus of the robotic arm is obtained.The analyzing and calculating method of the handling robot arm in the paper lays a theoretical foundation for the safe working of the handling robot arm,which has important guiding significance.
handling manipulatorstress intensity factorcrackgrasping loadcrack relative sizeextended life
万方数据
维普
