中文摘要：

结合一款救援机器人在收放实验过程中发生的机构变形卡滞现象,探究了机构受载特点和故障原因。利用仿真分析软件建立起了收放机构的刚柔耦合模型,采用刚柔耦合动力学仿真分析方法探究了设计加工误差和装配间隙对构件变形的影响。故障分析表明,机械结构设计造成的附加弯矩和加工、装配间隙是导致收放机构变形卡滞的重要影响因素。提出了优化设计方案并进行了刚柔耦合仿真验证分析。对比结果表明,优化方案有效地解决了机构中传动构件受载方式不合理的问题,有效地解决了机构的变形卡滞问题。

英文摘要：

Because deformation and clamping stagnation occur in the extension and retraction mechanism of a certain kind of rescue robot,this paper explores the extension and retraction mechanism＇ s loading characteristics and causes of its failure. Its rigid-flexible coupling model was established by using computer simulation analysis software. How machining errors and assembly clearance affect the deformation of the mechanical components of the rescue robot was discussed. The error analysis shows that the additional moment caused by the mechanical structural design and machining errors as well as assembly clearances are significant contributors to the deformation of the extension and retraction mechanism. This paper also improved the design and redoes the computer simulation analysis. Compared with the previous results,the current results show that the improved design makes the loading characteristics reasonable and reduces effectively deformation and clamping stagnation.