GIS检测机械臂结构设计及优化

发布时间：2018-04-11 20:38

本文选题：机械臂 + 结构设计　；参考：《沈阳理工大学》2017年硕士论文

【摘要】：作为支撑国民经济发展的能源支柱,电网在当今社会发展中发挥着不可替代的作用,它关系着整个社会的稳定发展。作为与用户联系最紧密的配电网开关站的电力检测与维护工作显得尤为重要。开关站内有上百台气体绝缘金属封闭式开关,云南电网利用整套的数字成像系统对其检修。但是由于X射线发生器有辐射性,传统的人工搬举检修系统设备对工人身体伤害极大,劳动强度大并且检修效率大大降低,需要投入更多的人力、物力。设计一套具有移动与操作能力的搬运数字成像检测设备的移动机械臂具有很大的发展前景和研究意义,它能辅助工人通过遥操作方式对气体绝缘开关进行检测,能够很大程度的减小工作人员的作业风险、提高作业效率。本文首先阐述了设计一套具有移动与操作能力的搬运数字成像检测设备的移动机械臂的重要性,分析比较了适合应用在搬举场合的国内外研究的移动机械臂的研究成果以及最常用的关节型机械臂的发展现状,总结了检测任务的工作环境特点以及约束条件和工作要求,明确了本课题的主要研究内容和研究工作。然后根据检测工作环境与任务需求,确定检测机械臂的系统方案及作业流程,明确了检测机械臂的自由度、关节类型和性能指标约束,完成机械臂机构的设计;并进行了运动学正解,验证了设计的正确性;通过蒙特卡洛方法,对机械臂的工作空间进行了仿真,验证了机械臂机构设计完全满足工程要求。其次对机械臂进行结构设计的分析,主要对连杆截面形状进行了综合性能的比较分析,得出空心矩形截面更适合本课题应用;在确定了连杆截面形状后,根据移动平台对机械臂总质量的最大限度要求,选用机械臂的最大参数对连杆截面尺寸进行了初始尺寸的设计分析。随后在SolidWork中设计了机械臂的基座、连杆、关节以及末端执行器,并对电机进行了选型,装配成整体三维模型;通过有限元分析方法,进行了机械臂连杆的结构优化,主要包括尺寸优化、拓扑优化和形状优化。最后在Adams中对机械臂进行动力学仿真与分析,得到关节力矩并验证方案可行性;并对机械臂进行了折叠和展开两种状态的模态分析,为下一步研究和使用奠定了基础。综上所述,本课题面向气体绝缘金属封闭式开关检测的实际需求,开展搬举数字化成像系统设备的机械臂研究,设计和分析检测机械臂的机构设计和结构设计,开展对检测机械臂的结构优化研究,通过模拟仿真验证虚拟样机的正确性与有效性。
[Abstract]:As a pillar of energy to support the development of national economy, power grid plays an irreplaceable role in the development of society today, which is related to the stable development of the whole society.As the most closely connected distribution network switching station, the detection and maintenance of power is particularly important.There are hundreds of gas insulated metal closed switches in the switch station, which are overhauled by the whole digital imaging system in Yunnan Power Grid.However, because of the radiance of X-ray generator, the traditional equipment of manual lifting and maintenance system is very harmful to the workers, the labor intensity is large and the efficiency of maintenance is greatly reduced, so more manpower and material resources are needed.The design of a mobile robot arm which has the ability to move and operate the moving digital imaging detection equipment has great development prospect and research significance. It can assist the workers to detect the gas insulated switch by means of teleoperation.Can greatly reduce the risk of staff operations, improve operational efficiency.In this paper, the importance of designing a mobile manipulator with moving and operating capability for moving digital imaging detection equipment is first expounded.This paper analyzes and compares the research results of mobile manipulator which is suitable for domestic and international research in lifting situations and the development status of the most commonly used joint manipulator, and summarizes the working environment characteristics, constraint conditions and working requirements of the detection task.The main research contents and research work of this subject are clarified.Then, according to the working environment and task requirements, the system scheme and operation flow of the detecting manipulator are determined, and the degree of freedom, the type of joint and the constraint of performance index are defined to complete the design of the manipulator mechanism.The kinematics forward solution is carried out to verify the correctness of the design, and the workspace of the manipulator is simulated by Monte Carlo method, which verifies that the design of the manipulator mechanism fully meets the engineering requirements.Secondly, the structural design of the manipulator is analyzed, and the comprehensive performance of the section shape of the connecting rod is compared and analyzed. It is concluded that the hollow rectangular section is more suitable for the application of this subject; after the shape of the connecting rod section is determined,According to the maximum requirement of the mobile platform for the total mass of the manipulator, the initial dimensions of the connecting rod are designed and analyzed with the maximum parameters of the manipulator.Then, the base, connecting rod, joint and end actuator of the manipulator are designed in SolidWork, and the motor is selected and assembled into a three-dimensional model, and the structure of the linkage is optimized by finite element method.It mainly includes dimension optimization, topology optimization and shape optimization.Finally, the dynamic simulation and analysis of the manipulator are carried out in Adams, the joint torque is obtained and the feasibility of the scheme is verified, and the modal analysis of folding and unfolding of the manipulator is carried out, which lays a foundation for further research and application.To sum up, this subject aims at the actual demand of the gas insulated metal closed switch detection, carries out the research of lifting the mechanical arm of the digital imaging system, designs and analyzes the mechanism design and structure design of the detecting mechanical arm.The structure optimization of the detecting manipulator is carried out, and the correctness and validity of the virtual prototype are verified by simulation.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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