钢板爬壁机器人三角架组合体结构优化设计  

Structural Optimization Design of Tripod Assembly of Steel Plate Climbing Robot

作　　者：曾红[1] 魏旭东 冯帆 ZENG Hong;WEI Xu-dong;FENG Fan(Rongcheng Campus,Harbin University of Science and Technology,Rongcheng 264300,China;School of Mechanical and Power Engineering,Harbin University of Science and Technology,Harbin 150080,China;College of Mechanical and Electronic Engineering,China University of Petroleum,Qingdao 266580,China)

机构地区：[1]哈尔滨理工大学荣成学院,山东荣成264300 [2]哈尔滨理工大学机械动力工程学院,黑龙江哈尔滨150080 [3]中国石油大学(华东)机电工程学院,山东青岛266580

出　　处：《哈尔滨理工大学学报》2019年第1期23-28,共6页Journal of Harbin University of Science and Technology

基　　金：黑龙江省教育厅科学技术研究项目(12541147)

摘　　要：三角架组合体作为履带式爬壁机器人的重要支撑件,其机械性能决定船体大面积焊接作业的可靠性。以钢板吸附力为基础,对爬壁焊接机器人三角架组合体进行有限元分析,得到模型的受力、变形和前四阶模态振型;随后分析求解相关结果,利用参数灵敏度分析方法,对三角架组合体的结构进行优化。运用ANSYS Workbench软件对优化后的结构进行模拟仿真,得到总组合体的变形量、应力值均有一定程度下降,模态振型的表现形式转变为较平稳的平动或摆动状态。提高了机器人运动的平稳性,对大面积船体焊接质量的稳定性提供技术支撑。As an important supporting part of the crawler wall-climbing robot,the mechanical properties of the tripod assembly determine the reliability of the large area welding operation of the hull.In this paper,based on the adsorption force of steel plate,finite element analysis is performed on the tripod assembly of the wall-climbing welding robot to obtain the force,deformation and the first four modes of the model.Then we analyze and solve the relevant results,and the structure of the tripod assembly is optimized by the method of parameter sensitivity analysis.Using ANSYS Workbench software to simulate the optimized structure,the deformation and stress values of the total assembly are reduced to a certain degree,and the form of modal shape changed to a more stable translational or swing state.Optimized combination improves the smoothness of the robot′s movement and provides technical support for the stability of large-area hull welding quality.

关 键 词：机器人三角架组合体 有限元分析 灵敏度分析法 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]