集箱焊瘤打磨机器人的结构设计与位姿分析  

Construction design and position analysis of wheeled polishing robot

作　　者：徐子力[1] 韩丽楠 张伟森[1] 陈龙[1] 

机构地区：[1]上海大学精密机械系,上海200072

出　　处：《机电工程》2014年第4期414-419,共6页Journal of Mechanical & Electrical Engineering

摘　　要：针对集箱内壁焊瘤打磨作业存在安全性与高效性不足的问题,研制出了一种新型的轮式驱动集箱焊瘤打磨机器人。首先介绍了集箱焊瘤打磨机器人的结构组成和工作原理,根据机器人在集箱内壁中的通过性具体要求,分析了集箱焊瘤打磨机器人在集箱内壁复杂环境中的越障性能,及摩擦力与轮子直径对机器人越障能力的影响;然后通过建立机器人在集箱内壁面上的运动学模型,分析了机器人的位姿与各轮子的运动轨迹;最后对样机进行了试验。试验及研究结果表明:该焊瘤打磨机器人响应速度快,行走能力也达到了设计要求。Aiming at the safety and efficiency issues of grinding operations in boiler header, a new type of wheel-drive robot was developed. The construction and working principle of the robot was introduced. According to wheel pipe robot specific requirements, the influence of the wheel diameter and friction to the performance of overcoming obstacles in the complex environment of the inner wall header was discussed. A kinematic model of the robot was established to analyze the pose and motion trajectory of each wheel. Meanwhile, experimental study on the moving performance was carried out on the prototype. The results indicate that the wheeled polishing robot has fast response and good moving ability, experimental data meet the design requirements.

关 键 词：打磨机器人 圆形集箱或管道 越障通过性 位姿 

分 类 号：TH122[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]