机械

夹持式机器人已成为主要的攀爬机器人,其两端手臂对攀爬对象夹持的安全性与可靠性是机器人重要的前提条件。丝杆移动型爬杆机器人的攀爬过程分为手臂台升降、身体复位和绕杆检测三个阶段。首先对机器人前两个阶段的丝杆进行受力分析,确定整机设计参数;再通过ADAMS对机械臂与杆的夹持过程进行动力学分析,根据机械手加速度曲线优选最佳受力时间,进一步分析各杆的角加速度,确定整机的可靠性;最后将机械臂简化为梁单元,进行有限元非线性屈曲分析,验证梁的安全性,并对携带传感器的机械臂进行优化,减轻重量。

The clamping way has become a major climbing robot,and it is an important prerequisite for the robot to satisfy the safety and reliability of the arms when climbing.The climbing process of the screw climbing robot is divided into three stages: arm movements,body reset and detect around.Firstly,the force analysis of the screw in the robot first two stages is carried out to determine the design parameters of the whole robot.Then the kinetics analysis of the clamping process of the arm and the pipe is carried out by ADAMS,according to the acceleration.The optimal time is obtained according to the acceleration curve of the manipulator,and the angular acceleration of each rod is further analyzed to determine the reliability of the whole robot.Finally,the finite element nonlinear buckling analysis is carried out to verify the safety of the beam,and the arm carried the sensor is optimized to reduce the weight of the robot.