直立工作面柔索驱动检测机器人的设计研究  

Design and research of cable-driven inspection robot with its vertical working plane

作　　者：薄悦 赵玉凯 王磊 岳海蛟 BO Yue;ZHAO Yu-kai;WANG Lei;YUE Hai-jiao(Luoyang Advanced Manufacture Industrial Center of Tsinghua University,Luoyang 471000;School of Mechanical and Electrical Engineering,Henan Open University,Zhengzhou 450046;Zhengzhou Research Institute of Mechanical Engineering Co.,Ltd.,Zhengzhou 450052;Beijing Institute of Aerospace Micro Electro-Mechanical Technology,Beijing 100094)

机构地区：[1]清华大学洛阳先进制造产业研发基地,河南洛阳471000 [2]河南开放大学机电工程学院,河南郑州450046 [3]郑州机械研究所有限公司,河南郑州450052 [4]北京航天微机电技术研究所,北京100094

出　　处：《机械设计》2022年第5期72-78,共7页Journal of Machine Design

摘　　要：为解决电厂锅炉内壁、船体、玻璃幕墙外墙面等大型构件直立面检测维护的工程难题,研制了一种新型的过约束柔索驱动检测机器人。研究了不同的柔索驱动定位机构及构型的差异,并根据工程应用需要,总结了柔索驱动检测机器人所需具备的基本功能,据此选择了功能更易实现的过约束定位机构,然后进行了系统的构型设计和运动机构结构的设计。通过一定的合理简化,建立了系统运动分析模型和运动机构受力模型,根据力矢量及几何闭合条件,得出了柔索运动方程和静力平衡方程,求解出了柔索的运动参数和受力解析解。试制了样机并搭载CCD相机进行了相关的验证试验,实现了柔索驱动检测机器人的基本功能。It is difficult to maintain the vertical plane of large components such as the boiler’s inner wall in the power plant, the hull surface, the glass curtain wall, and so on. In this article, in order to solve the engineering difficulties, a new redundantly-restrained cable-driven inspection robot is developed. The difference of different cable-driven positioning mechanisms is explored, and the fundamental functions of the cable-driven inspection robot are summed up according to the requirements of engineering application. Then, on this basis, the redundantly-restrained positioning mechanism which is easy to realize these functions is chosen, and the robot’s system configuration and motion mechanism are designed. With the help of some reasonable simplifications, the kinematics model of the robot system and the static model of the motion mechanism are set up;the motion equation and the static equilibrium equation are identified by means of the closure condition of force vector and geometry;the solutions of the two equations are worked out. The trial prototype is manufactured, and the related tests of verification are carried out with the CCD camera. The results show that the fundamental functions of the cable-driven inspection robot are realized.

关 键 词：柔索并联机构 过约束定位机构 检测机器人 结构构型设计 运动静力分析 

分 类 号：TH122[机械工程—机械设计及理论] TK38[动力工程及工程热物理—热能工程]