绝缘筒检测操作臂的机构设计与分析

发布时间：2018-07-02 23:40

本文选题：机械臂运动学尺寸 + 连杆截面尺寸　；参考：《沈阳理工大学》2017年硕士论文

【摘要】：X射线相机检测设备,是电网公司对绝缘筒内部线缆是否出现断股进行检测的重要设备,它检测的方便性与可靠性,直接关系到电网公司的安全经营与经济效益,传统的检测方法是依靠人力手持X射线相机对绝缘筒内部线缆进行检测,这样一方面对操作工人造成一定的辐射危险、增加了工作强度,另一方面无法保证检测的可靠性,所以设计一款可靠性高的,负载自重比大的,使用方便的机械臂代替传统的人力手持X射线相机是具有重要的现实意义的。机械臂本体的机构设计,是整个机械臂系统中的重要组成部分,本文根据力可操作度指标,加速度性能指标,灵活性指标作为机械臂机构设计的优化目标函数,以机械臂的工作范围为约束条件,设计机械臂的运动学尺寸,在这一过程中提出了将层次分析法应用到多目标优化中来。结果表明经过这样优化后的机械臂,在力可操作度,加速度性能,以及灵活性方面均有较好的性能。采用能量法对机械臂连杆的弯曲形式进行了选型,得出了在同样的运动尺寸下,直杆的变形要小于弯杆的变形,并且这一结论通过了SolidWorks的仿真验证。采用强度准则,挠曲变形准则对机械臂连杆的截面尺寸进行了设计,采用同样的方法推导出连杆截面尺寸沿连杆长度方向上渐变的函数曲线,得到了用于机械臂的连杆,其壁厚为外形尺寸的0.2到0.3倍时,效果最好。然后对所设计的机械臂采用齐次变换的理论进行了运动学分析,采用牛顿-欧拉方法进行了动力学分析。对所设计的机械臂进行了轨迹规划,分别采用了五次多项式插值,加减速插值,B样条插值,并且详细的比较了这三种插值方法的优缺点。最后,采用MATLAB开发出了一套针对于五自由度机械臂设计与分析的软件。
[Abstract]:X-ray camera testing equipment is an important equipment for power grid company to detect whether the cable inside the insulation tube is broken. Its convenience and reliability are directly related to the safety management and economic benefit of the power grid company. The traditional testing method is to rely on the hand-held X-ray camera to detect the inner cable of the insulating tube. On the one hand, it causes a certain radiation hazard to the operator and increases the working intensity. On the other hand, it cannot guarantee the reliability of the detection. Therefore, it is of great practical significance to design a high reliability, load to weight ratio and convenient mechanical arm instead of the traditional hand-held X-ray camera. The mechanism design of the arm body is an important part of the whole manipulator system. In this paper, the force operability index, acceleration performance index and flexibility index are taken as the optimization objective function of the mechanical arm mechanism design. The kinematics dimension of the manipulator is designed with the working range of the manipulator as the constraint condition. In this process, the analytic hierarchy process (AHP) is applied to the multi-objective optimization. The results show that the optimized manipulator has better performance in terms of force operability, acceleration performance and flexibility. The bending form of mechanical arm connecting rod is selected by energy method. It is concluded that the deformation of straight bar is smaller than that of bending bar under the same moving dimension, and this conclusion has been verified by SolidWorks simulation. The strength criterion and the flexural deformation criterion are used to design the cross section dimension of the mechanical arm connecting rod. The function curve of the cross section size of the connecting rod along the length direction of the connecting rod is derived by the same method, and the connecting rod used for the mechanical arm is obtained. When the wall thickness is 0.2 to 0.3 times of the shape size, the effect is the best. Then the kinematics of the designed manipulator is analyzed by homogeneous transformation, and the dynamics is analyzed by Newton-Euler method. In this paper, the trajectory planning of the designed manipulator is carried out, and the five degree polynomial interpolation and acceleration and deceleration interpolation B spline interpolation are used respectively, and the advantages and disadvantages of these three interpolation methods are compared in detail. Finally, a software for the design and analysis of five-DOF manipulator is developed with MATLAB.
【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】：TP242

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