基于核环境下应急机器人机械臂结构分析与优化设计  

The Analysis and Optimization of Structure Design for Emergency Robotic Manipulator Based on the Environment of Nuclear

作　　者：何明元[1] 王基生[1] 张俊俊[1] 张华[1] 

机构地区：[1]西南科技大学特殊环境机器人技术四川省重点实验室,四川绵阳621010

出　　处：《机械设计与制造》2015年第7期156-159,共4页Machinery Design & Manufacture

基　　金：国家核能开发项目(12zg6102);四川省科技支撑计划项目(2013GZX0152)

摘　　要：为了探究应急机器人在核环境下安装不同工具头作业时机械臂的强度和可靠性,分析设计的合理性,为改进结构、提高性能稳定性及延长寿命提供依据,建立了应急机器人的有限元模型,并选取破碎锤和挖斗两种典型末端工具作业时的两种不利工况,通过ANSYS有限元软件进行静力学仿真分析。结果表明:应力集中主要发生在工具头施力处及油缸与臂铰接处,是可能产生破坏的主要原因。针对动臂进行结构优化设计,使其重量由41.7 kg优化为30.1 kg,减重28.06%;并根据优化结果加工出试验样机,将理论分析用于生产实践上,验证了优化结果的可行性。In order to explore the strength and reliability of the manipulators for the emergency robot when installing different tools in a nuclear environment,analyzes the rationality of the design,and provides the basis for improving the structure and its performance and prolonging life,and the three-dimensional model of emergency robot was established by using the Pro/E software,and two typical tools was selected during the operation of two unfavorable conditions,which was used to analyze the static structural simulation by the finite element analysis software of ANSYS. The results showed that,stress concentration mainly occurred in each arm and cylinders articulated and the point of force application,which was the main reason for possible damage. And the optimization design has been made aimed at the boom,making its weight by 41.7kg optimized for30.1kg,reduced by 28.06%. According to the results of optimization processed the prototype,the theoretical analysis applied in the actual production practice,verified the reliability of the optimization results.

关 键 词：核环境 应急机器人 机械臂 有限元 优化 

分 类 号：TH16[机械工程—机械制造及自动化]