本文選題：機(jī)械臂 + 結(jié)構(gòu)設(shè)計(jì)　； 參考：《沈陽(yáng)理工大學(xué)》2017年碩士論文

【摘要】：作為支撐國(guó)民經(jīng)濟(jì)發(fā)展的能源支柱,電網(wǎng)在當(dāng)今社會(huì)發(fā)展中發(fā)揮著不可替代的作用,它關(guān)系著整個(gè)社會(huì)的穩(wěn)定發(fā)展。作為與用戶聯(lián)系最緊密的配電網(wǎng)開關(guān)站的電力檢測(cè)與維護(hù)工作顯得尤為重要。開關(guān)站內(nèi)有上百臺(tái)氣體絕緣金屬封閉式開關(guān),云南電網(wǎng)利用整套的數(shù)字成像系統(tǒng)對(duì)其檢修。但是由于X射線發(fā)生器有輻射性,傳統(tǒng)的人工搬舉檢修系統(tǒng)設(shè)備對(duì)工人身體傷害極大,勞動(dòng)強(qiáng)度大并且檢修效率大大降低,需要投入更多的人力、物力。設(shè)計(jì)一套具有移動(dòng)與操作能力的搬運(yùn)數(shù)字成像檢測(cè)設(shè)備的移動(dòng)機(jī)械臂具有很大的發(fā)展前景和研究意義,它能輔助工人通過遙操作方式對(duì)氣體絕緣開關(guān)進(jìn)行檢測(cè),能夠很大程度的減小工作人員的作業(yè)風(fēng)險(xiǎn)、提高作業(yè)效率。本文首先闡述了設(shè)計(jì)一套具有移動(dòng)與操作能力的搬運(yùn)數(shù)字成像檢測(cè)設(shè)備的移動(dòng)機(jī)械臂的重要性,分析比較了適合應(yīng)用在搬舉場(chǎng)合的國(guó)內(nèi)外研究的移動(dòng)機(jī)械臂的研究成果以及最常用的關(guān)節(jié)型機(jī)械臂的發(fā)展現(xiàn)狀,總結(jié)了檢測(cè)任務(wù)的工作環(huán)境特點(diǎn)以及約束條件和工作要求,明確了本課題的主要研究?jī)?nèi)容和研究工作。然后根據(jù)檢測(cè)工作環(huán)境與任務(wù)需求,確定檢測(cè)機(jī)械臂的系統(tǒng)方案及作業(yè)流程,明確了檢測(cè)機(jī)械臂的自由度、關(guān)節(jié)類型和性能指標(biāo)約束,完成機(jī)械臂機(jī)構(gòu)的設(shè)計(jì);并進(jìn)行了運(yùn)動(dòng)學(xué)正解,驗(yàn)證了設(shè)計(jì)的正確性;通過蒙特卡洛方法,對(duì)機(jī)械臂的工作空間進(jìn)行了仿真,驗(yàn)證了機(jī)械臂機(jī)構(gòu)設(shè)計(jì)完全滿足工程要求。其次對(duì)機(jī)械臂進(jìn)行結(jié)構(gòu)設(shè)計(jì)的分析,主要對(duì)連桿截面形狀進(jìn)行了綜合性能的比較分析,得出空心矩形截面更適合本課題應(yīng)用;在確定了連桿截面形狀后,根據(jù)移動(dòng)平臺(tái)對(duì)機(jī)械臂總質(zhì)量的最大限度要求,選用機(jī)械臂的最大參數(shù)對(duì)連桿截面尺寸進(jìn)行了初始尺寸的設(shè)計(jì)分析。隨后在SolidWork中設(shè)計(jì)了機(jī)械臂的基座、連桿、關(guān)節(jié)以及末端執(zhí)行器,并對(duì)電機(jī)進(jìn)行了選型,裝配成整體三維模型;通過有限元分析方法,進(jìn)行了機(jī)械臂連桿的結(jié)構(gòu)優(yōu)化,主要包括尺寸優(yōu)化、拓?fù)鋬?yōu)化和形狀優(yōu)化。最后在Adams中對(duì)機(jī)械臂進(jìn)行動(dòng)力學(xué)仿真與分析,得到關(guān)節(jié)力矩并驗(yàn)證方案可行性;并對(duì)機(jī)械臂進(jìn)行了折疊和展開兩種狀態(tài)的模態(tài)分析,為下一步研究和使用奠定了基礎(chǔ)。綜上所述,本課題面向氣體絕緣金屬封閉式開關(guān)檢測(cè)的實(shí)際需求,開展搬舉數(shù)字化成像系統(tǒng)設(shè)備的機(jī)械臂研究,設(shè)計(jì)和分析檢測(cè)機(jī)械臂的機(jī)構(gòu)設(shè)計(jì)和結(jié)構(gòu)設(shè)計(jì),開展對(duì)檢測(cè)機(jī)械臂的結(jié)構(gòu)優(yōu)化研究,通過模擬仿真驗(yàn)證虛擬樣機(jī)的正確性與有效性。
[Abstract]:As a pillar of energy to support the development of national economy, power grid plays an irreplaceable role in the development of society today, which is related to the stable development of the whole society.As the most closely connected distribution network switching station, the detection and maintenance of power is particularly important.There are hundreds of gas insulated metal closed switches in the switch station, which are overhauled by the whole digital imaging system in Yunnan Power Grid.However, because of the radiance of X-ray generator, the traditional equipment of manual lifting and maintenance system is very harmful to the workers, the labor intensity is large and the efficiency of maintenance is greatly reduced, so more manpower and material resources are needed.The design of a mobile robot arm which has the ability to move and operate the moving digital imaging detection equipment has great development prospect and research significance. It can assist the workers to detect the gas insulated switch by means of teleoperation.Can greatly reduce the risk of staff operations, improve operational efficiency.In this paper, the importance of designing a mobile manipulator with moving and operating capability for moving digital imaging detection equipment is first expounded.This paper analyzes and compares the research results of mobile manipulator which is suitable for domestic and international research in lifting situations and the development status of the most commonly used joint manipulator, and summarizes the working environment characteristics, constraint conditions and working requirements of the detection task.The main research contents and research work of this subject are clarified.Then, according to the working environment and task requirements, the system scheme and operation flow of the detecting manipulator are determined, and the degree of freedom, the type of joint and the constraint of performance index are defined to complete the design of the manipulator mechanism.The kinematics forward solution is carried out to verify the correctness of the design, and the workspace of the manipulator is simulated by Monte Carlo method, which verifies that the design of the manipulator mechanism fully meets the engineering requirements.Secondly, the structural design of the manipulator is analyzed, and the comprehensive performance of the section shape of the connecting rod is compared and analyzed. It is concluded that the hollow rectangular section is more suitable for the application of this subject; after the shape of the connecting rod section is determined,According to the maximum requirement of the mobile platform for the total mass of the manipulator, the initial dimensions of the connecting rod are designed and analyzed with the maximum parameters of the manipulator.Then, the base, connecting rod, joint and end actuator of the manipulator are designed in SolidWork, and the motor is selected and assembled into a three-dimensional model, and the structure of the linkage is optimized by finite element method.It mainly includes dimension optimization, topology optimization and shape optimization.Finally, the dynamic simulation and analysis of the manipulator are carried out in Adams, the joint torque is obtained and the feasibility of the scheme is verified, and the modal analysis of folding and unfolding of the manipulator is carried out, which lays a foundation for further research and application.To sum up, this subject aims at the actual demand of the gas insulated metal closed switch detection, carries out the research of lifting the mechanical arm of the digital imaging system, designs and analyzes the mechanism design and structure design of the detecting mechanical arm.The structure optimization of the detecting manipulator is carried out, and the correctness and validity of the virtual prototype are verified by simulation.
【學(xué)位授予單位】：沈陽(yáng)理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP241

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