超大伸缩比机械臂结构设计及其刚度优化方法

定期清理灰库内壁板结干灰已成为保障火电厂机组安全运营的重要措施。针对现有灰库清理机器人普遍存在的清理区间局限、整机刚度不足等突出问题，通过引入基于绳排的同步伸缩驱动机构，融合轻量化高刚度的多节箱式臂体及柔性周向回转关节，创新设计出一款基于超大伸缩比机械臂的灰库全域面清理机器人。在此基础上，通过深入力学分析建立伸缩臂力学模型并提出刚度条件。利用迭代法对伸缩臂截面参数进行优化，获得不同情况下最优截面参数。仿真实验表明经刚度优化后的伸缩臂整体刚度良好，满足灰库清理机器人长期作业要求。

Structural Design and Stiffness Optimization Method of Super Large Telescopic Boom

It has become an important measure to clean up the inner wall of ash silo regularly. The existing ash silo cleaning robot is widespread in view of a range limit problems, and inadequate machine rigidity, through the introduction of a synchronous telescopic drive mechanism based on rope row, and the fusion of a lightweight multi-section box arm with high stiffness and flexible circumgyration joints, an all-domain ash silo cleaning robot based on a super large telescopic manipulator has been innovatively designed. On this basis, through in-depth mechanical analysis, the telescopic brachial mechanics model was established and the stiffness conditions were proposed. The cross section parameters of telescopic boom are optimized by iteration method to obtain the optimal cross section parameters under different conditions. The simulation results show that the overall stiffness of the telescopic boom is good and meets long-time working requirements of the robot.