中文摘要：

针对固体火箭发动机内壁表面的检测的问题，现有的内窥镜检测装置悬臂设计伸缩量已经达到3．5m，为了满足测量精度要求，故对基于ANSYS软件分析平台对悬臂前端的步进电机和工业相机及整条悬臂进行了静力学分析和模态分析并进行优化。确保悬臂的力学特性能够满足要求，且保证电机的工作频率避开悬臂的固有频率，使得工业相机的拍摄环境相对稳定。检测出会发生共振，因此对该装置进行优化设计，增加阻尼器对装置进行减振处理，以达到装置正常运行。

英文摘要：

Against the inner wall surface of the solid rocket motor testing question and existing endoscopic detection device designed telescopic boom has reached 3.5 m, in order to meet the requirements of accuracy, so the analysis based on ANSYS software platform cantilevered front end stepper motors and industrial cameras and the whole arm was static analysis and modal analysis and optimization. To ensure that the mechanical properties of the cantilever to meet the requirements, and to ensure that the motor operating frequency to avoid the natural frequency of the cantilever, making industrial cameras shooting environment relatively stable. Therefore detected resonance occurs to optimize the design of the device to increase the vibration damper device processing to achieve the unit normal operation.