[1]曾红,魏旭东,冯帆. 钢板爬壁机器人三角架组合体结构优化设计[J].哈尔滨理工大学学报,2019,(01):23-28.[doi:10.15938/j.jhust.2019.01.004]
 ZENG Hong,WEI Xu dong,FENG Fan.Structural Optimization Design of Tripod Assembly of Steel Plate Climbing Robot[J].哈尔滨理工大学学报,2019,(01):23-28.[doi:10.15938/j.jhust.2019.01.004]
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 钢板爬壁机器人三角架组合体结构优化设计
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《哈尔滨理工大学学报》[ISSN:1007-2683/CN:23-1404/N]

卷:
期数:
2019年01期
页码:
23-28
栏目:
机械动力工程
出版日期:
2019-08-06

文章信息/Info

Title:
Structural Optimization Design of Tripod Assembly of Steel Plate Climbing Robot

作者:
 曾红1魏旭东2冯帆 3
 (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)
Author(s):
 ZENG Hong1WEI Xudong2FENG Fan3
 (1Rongcheng Campus,Harbin University of Science and Technology,Rongcheng 264300,China;
2School of Mechanical and Power Engineering,Harbin University of Science and Technology,Harbin 150080,China;
3College of Mechanical and Electronic Engineering, China University of Petroleum,Qingdao 266580,China)
关键词:
 关键词:机器人三角架组合体有限元分析灵敏度分析法
Keywords:
 Keywords:robot triangular plate combination finite element analysis parameter sensitivity analysis
分类号:
TP2422
DOI:
10.15938/j.jhust.2019.01.004
文献标志码:
A
摘要:
 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。
Abstract:
 Abstract: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

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备注/Memo

备注/Memo:
 基金项目:黑龙江省教育厅科学技术研究项目(12541147)
更新日期/Last Update: 2019-03-26