管桁架焊缝检测机器人夹紧机构瞬态振动特性分析与试验  

Analysis and Test of Transient Vibration Characteristics of Clamping Mechanism of Pipe Truss Weld Inspection Robot

作　　者：靳壮壮 曹阳[1] 刘洋 张大斌[1] JIN Zhuang-zhuang;CAO Yang;LIU Yang;ZHANG Da-bin(School of Mechanical Engineering,Guizhou University,Guizhou Guiyang 550025,China;Railway Fifth Bureau Group Construction Engineering Co.,Ltd.,Guizhou Guiyang 550002,China)

机构地区：[1]贵州大学机械工程学院,贵州贵阳550025 [2]中铁五局集团建筑工程责任有限公司,贵州贵阳550002

出　　处：《机械设计与制造》2024年第5期190-193,198,共5页Machinery Design & Manufacture

基　　金：贵州省科技计划项目(黔科合支撑[2020]2Y055);贵州省科技计划资助项目(黔科合平台人才[2019]5616号)。

摘　　要：为保证管桁架焊缝检测机器人夹紧瞬间的稳定性,对机器人夹紧瞬间的振动特性展开研究。根据夹紧机构零部件配合方式构建夹紧机构振动模型,对机器人夹紧瞬间进行仿真,分析夹紧瞬间夹紧机构的响应情况,研究夹紧机构对模型参数的敏感程度。对夹紧机构进行改进,提高弹簧刚度,增加动态吸收器,建立改进后的夹紧机构瞬态振动模型,并在MatLab中进行仿真分析。开展夹紧机构振动测试试验,测量原始与改进后机构的振动情况,对比弹簧支撑振动测试结果与仿真结果。结果表明:弹簧刚度对弹簧压缩量影响最大,弹簧阻尼对调整时间影响最大;机构改进后,调整时间缩短,弹簧压缩率显著降低,稳定性优于原始机构;试验结果与仿真结果的瞬态性能指标误差均小于5%,试验结果与仿真结果具有一致性。To ensure the stability of the robot’sinspection by the tube truss at the moment of clamping.It makes a research on the vibration traits while the robot is clamping through three steps.The first is to simulate the clamping moment of the robot,analyze the response to the clamping mechanism at the clamping moment,and study the sensitivity of the clamping mechanism to the model parameters.The second is to improve the clamping mechanism,increase the spring stiffness,add the dynamic absorber,es-tablish the improved clamping mechanism,and carry out simulation analysis in MatLab.The third is to carry out vibration test of clamping mechanism,measure the vibration of original and improved mechanism,and compare the vibration test results of spring support with simulation results.The results indicate that spring stiffness has the greatest influence on spring compression while spring damping imposes the greatest influence on time adjustment.After the improvement of the mechanism,the adjustment time is shortened,the spring compression ratio is significantly reduced,and the stability has been proved to be better than that of the original mechanism;The error of transient performance index between the test results and the simulation results is less than 5%,so the test results are consistent with the simulation results.

关 键 词：管外爬行机器人 夹紧机构 稳定性 振动特性 瞬态响应 

分 类 号：TH16[机械工程—机械制造及自动化] TH242