六自由度检修机器人工作空间仿真分析  

Workspace Analysis of Overhaul Manipulator with Six Degree of Freedom

作　　者：周康 邹树梁[2] 王湘江[2] 冯栋彦[1] 闫辉 ZHOU Kang;ZOU Shu-liang;WANG Xiang-jiang;FENG Dong-yan;YAN Hui(School of Mechanical Engineering,University of South China,Hengyang 421001,China;Hunan Provincial Key Laboratory of Emergency Safety Technology and Equipment for Nuclear Facilities,Hengyang 421001,China;China Nuclear Industry Maintenance Corporation Shenzhen Branch,Shenzhen 518000,China)

机构地区：[1]南华大学机械工程学院,湖南衡阳421001 [2]南华大学核设施应急安全作业技术与装备湖南省重点实验室,湖南衡阳421001 [3]中核检修公司深圳分公司,广东深圳518000

出　　处：《机械工程与自动化》2018年第6期64-66,共3页Mechanical Engineering & Automation

基　　金：南华大学研究生科学基金项目资助(2018KYY061)

摘　　要：针对核电站蒸汽发生器主管道堵板安装拆卸人工操作不便的问题,提出了一种六自由度的检修机器人构型。在分析检修机器人正逆运动学的基础上,建立检修机器人的D-H参数模型,并运用蒙特卡洛法对检修机器人的工作空间进行仿真分析,得到了机器人工作空间的三维点云图、投影图及剖面图,构建了机器人工作空间的外部三维图形及内部空间轮廓,给出了确定检修机器人工作范围的方法,对检修机器人实际操作具有重要现实意义。To solve the problem of inconvenient assembly-disassembly of blocking plates of the main pipe of a steam generator,a six DOF robot configuration is proposed.On the basis of analyzing the forward and inverse kinematics of maintenance robot,the D-H parameter model of the robot is set up.The three-dimensional image,projection and profile of the robot working space are obtained by using Monte Carlo method to simulate and analyze the working space of the robot.The external 3 Dgraphics and internal space outline of the robot workspace are constructed,and the method of determining the working range of the maintenance robot is given,which is of great practical significance for the actual operation of the maintenance robot.

关 键 词：蒸汽发生器 六自由度 检修机器人 仿真 工作空间 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]