球罐作业机器人结构分析与优化

发布时间：2018-05-25 16:48

本文选题：球罐机器人 + 结构设计　；参考：《华北理工大学》2017年硕士论文

【摘要】：大型球罐是石油、化工和机械等领域常见的存储容器,需要定期对内壁焊缝和表面进行清理、检测等作业。传统的人工作业劳动强度大、工作环境恶劣、工作效率低,具有较大的危险性。因此,研究球罐内壁作业机器人代替传统的人工作业,具有广阔的应用前景。依据机器人实际工作环境、内容和工作过程的具体特点,结合机械结构设计原则,设计机器人本体结构的主要性能指标参数,对机器人的吸附方式、运动方式和驱动系统进行合理的选择。提出一种用于球罐内壁作业的双足式爬壁机器人,该机器人采用并联机构构成腿机构,丝杠滑块驱动,可实现越障、沿壁面匀速运动、转弯等,适用于较大内径范围的球罐作业。并对该机器人传动机构、框架机构、腿部机构和转弯机构进行了详细的分析与设计。对球罐作业机器人腿部构件进行运动学分析与轨迹规划。建立球罐作业机器人腿部构件的数学模型,分析得出位置正解、逆解和速度、加速度方程。利用空间直角坐标系五次多项式法和Matlab软件,得到了各关节随时间变化的角度、角速度和角加速度的函数图像,确定了腿部机构末端的运动形式。进行吸附系统的力学特性分析。建立了机器人运动过程中的稳定平面,运用Matlab得到在不发生滑落和倾覆两种失稳状态的条件下,内壁与竖直方向的夹角和吸附力之间的关系函数图。最终确定了每个吸附单元的吸附力,保证机器人可靠的吸附在壁面上。基于ANSYS Workbench对机器人进行静态特性分析和优化。建立有限元模型,对机器人整体结构进行应力和变形分析,通过得到的云图分析可知,机器人的强度和刚度均满足要求,在此基础上进行多目标优化,使得机器人减轻了本体自重,运动更为灵活。通过对球罐作业机器人结构的设计优化、腿部构件和吸附系统的分析,确定了机器人整体结构模型,在此基础上制造了机器人样机。
[Abstract]:Large spherical tanks are common storage containers in petroleum, chemical and mechanical fields. The traditional manual work has high labor intensity, bad working environment and low working efficiency. Therefore, it has a broad application prospect to study the spherical tank inner wall working robot instead of traditional manual operation. According to the actual working environment, contents and working process of the robot, combined with the principle of mechanical structure design, the main performance index parameters of the robot body structure and the adsorption mode of the robot are designed. The motion mode and drive system are reasonably selected. This paper presents a biped climbing robot used in the operation of the inner wall of a spherical tank. The robot uses a parallel mechanism to form a leg mechanism, which is driven by a lead screw slider, which can achieve obstacle surmounting, uniform motion along the wall, turning, etc. Suitable for the operation of spherical tank with large inner diameter range. The robot transmission mechanism, frame mechanism, leg mechanism and turning mechanism are analyzed and designed in detail. Kinematics analysis and trajectory planning for leg components of spherical tank operation robot are carried out. The mathematical model of leg components of spherical tank operation robot is established, and the forward and inverse solutions of position and the equations of velocity and acceleration are obtained. The function images of the angle, angular velocity and angular acceleration of each joint with time are obtained by using the five-degree polynomial method of spatial right-angle coordinate system and Matlab software, and the motion form of the end of the leg mechanism is determined. The mechanical properties of the adsorption system were analyzed. The stable plane in the motion of the robot is established and the function diagram of the relationship between the angle between the inner wall and the vertical direction and the adsorption force is obtained by using Matlab under the condition of no sliding and capsizing. Finally, the adsorption force of each adsorption unit is determined to ensure the robot to adhere to the wall reliably. The static characteristics of the robot are analyzed and optimized based on ANSYS Workbench. The finite element model is established to analyze the stress and deformation of the whole structure of the robot. Through the analysis of the cloud diagram obtained, the strength and stiffness of the robot meet the requirements, and on this basis, the multi-objective optimization is carried out. The robot reduces the weight of the body and makes the movement more flexible. Based on the optimization of robot structure, the analysis of leg components and adsorption system, the whole structure model of the robot is established, and the prototype of the robot is made on the basis of this model.
【学位授予单位】：华北理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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