油罐清洗机器人自激脉冲装置的动力学仿真  

Dynamic Simulation of the Self-Excitation Pulse Device of an Oil Tank Cleaning Robot

作　　者：李悦 周利坤 

机构地区：[1]武警工程大学军交运输系,陕西西安710086

出　　处：《机械设计与制造》2013年第8期81-84,共4页Machinery Design & Manufacture

基　　金：陕西省重点学科建设专项资金资助项目(102-00x903)

摘　　要：油罐清洗机器人是机械化清灌的重要而有效的工具,自激脉冲装置是清洗机器人的一种机械手臂式喷射清洗装置。基于虚拟样机技术,首先利用SolidWorks软件完成了油罐清洗机器人自激脉冲装置的三维实体建模;然后利用SolidWorks自带功能插件对该装置进行了干涉检查,验证了零部件装配设计的合理性,并进行了0°角和120°角极限工作位置的有限元受力分析,验证了设计选材和工作过程的可靠性;最后将三维实体模型导入ADAMS中,建立了动力学仿真模型,进行了三维可视化动力学仿真分析,获得了其运动学和动力学特性,验证了装置作业过程的稳定性。Oil tank cleaning robots are important tools in the mechanization of cleaning oil tank.The self-excitation pulse device is one kind of mechanizing arm spray cleaning device of cleaning robots.Based on the virtual prototype technology,firstly,using SolidWorks software to complete the 3D virtual prototype.Secondly,using part function of SolidWorks software to examine the interference and rationality of elements and took the FEA of 0° and 120° extreme angle positions to confirm the reliability of material and working.Finally,importing the 3D virtual prototype to the ADAMS to generate a simulation model of dynamic model,and take a 3D visible dynamic to analyze simulation and get its kinematic and dynamic character.It proves the working stability of the device.

关 键 词：清洗机器人 虚拟样机 有限元分析 动力学仿真 自激脉冲装置 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]