关节液压机械臂的设计与分析  

Design and Analysis of Articulated Hydraulic Manipulator

作　　者：王广开 何浩然 沈琛林 吴德慧 彭思 王路森 赖雅茹 Wang Guangkai;He Haoran;Shen Chenlin;Wu Dehui;Peng Si;Wang Lusen;Lai Yaru(China Nuclear Power Engineering Limited Company,Beijing 100840,China)

机构地区：[1]中国核电工程有限公司,北京100840

出　　处：《广东化工》2023年第8期117-120,共4页Guangdong Chemical Industry

摘　　要：核电及核化工行业传统的吊车吊运作业不能满足废料桶堆码复杂、状态未知的情况,针对上述问题,设计了一种适合核化环境耐辐照及耐腐蚀的远距离操作关节液压机械臂,实现了对废料桶的辅助定位与扶正,满足废料桶的回取任务。为了验证设计的合理性,通过Matlab进行机械臂运动学的仿真验证,确定其工作空间,确保能满足要求;通过Adams建立机械臂与夹爪的虚拟样机模型,得到机械臂各个关节油缸的驱动力、驱动力矩,为其驱动原件选型提供参考,验证机械臂夹爪的夹持力。The crane in nuclear power and nuclear chemical industry cannot meet the requirements of complex waste drum stacking and unknown situation.To solve the above problems,a kind of radiation and corrosion resistant articulated hydraulic manipulator suitable for nuclear environment is designed to realize the auxiliary positioning and righting of the waste drum and meet the recycling task of the waste drum.In order to verify the rationality of the design,The kinematics of the manipulator was verified by Matlab,which could determine its workspace to ensure it meets the requirements.The virtual prototype model of the manipulator and gripper was established by Adams,and the force and torque of each joint cylinder of the manipulator were obtained,which provided a reference for the selection of its control device and verified the clamping force of the gripper.

关 键 词：核化工 废物桶 液压机械臂 远距离操作 虚拟样机 

分 类 号：TQ[化学工程]