| 水轮机叶片修复机器人结构设计及运动学分析 |
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| 引用本文： | 李东洁,尤波,许家忠,贾德利.水轮机叶片修复机器人结构设计及运动学分析[J].黑龙江科技学院学报,2006,16(3):167-170,181. |
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| 作者姓名： | 李东洁 尤波 许家忠 贾德利 |
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| 作者单位： | 1. 哈尔滨理工大学,机械动力工程学院
2. 哈尔滨理工大学,自动化学院,哈尔滨,150080 |
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| 基金项目： | 黑龙江省教育厅科学技术研究项目
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黑龙江省教育厅高校骨干教师创新能力资助项目 |
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| 摘 要： | 针对水轮机叶片修复工作环境对机器人的要求,设计了体积小、重量轻、方便转移的六自由度单轨式软轨焊、磨机器人.它由软轨、移动式小车、三自由度转臂及两自由度腕部组成.其中第一个自由度为移动关节,其余五个自由度均为旋转关节.修复机器人六个关节均选用交流伺服电机驱动.第一个关节采用谐波齿轮减速器,其余五个关节选用Bayside减速器作为减速装置.通过静力学计算和运动学分析,证明了该设计的合理性和有效性.
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| 关 键 词： | 水轮机修复 机器人 运动学分析 |
| 文章编号： | 1671-0118（2006）03-0167-04 |
| 收稿时间： | 2006-04-07 |
| 修稿时间： | 2006-04-07 |
Structure design and kinematics analysis of robot for repairing hydraulic turbine vane |
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| LI Dongjie,YOU Bo,XU Jiazhong,JIA Deli.Structure design and kinematics analysis of robot for repairing hydraulic turbine vane[J].Journal of Heilongjiang Institute of Science and Technology,2006,16(3):167-170,181. |
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| Authors: | LI Dongjie YOU Bo XU Jiazhong JIA Deli |
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| Abstract: | Aimed at the severe demand on the robot imposed by hydraulic vane-repairing environment,the paper introduces a six-DOF(Degree of Freedom) welding and grinding robot designed with single soft rail which boasts smaller volume,lighter weight and easier movement.The robot is composed of soft rail,traveling dolly,three-DOF arm and two-DOF wrist.The first DOF is a transfer joint and the rest degrees of freedom are rotation joints.The six joints of the repairing robot are all driven by AC servo motors.The first joint adopts harmonic gear reducer and the rest joints adopt bayside reducer.Static calculation and kinematics analysis prove the rationality and validity of the design. |
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| Keywords: | repairing hydraulic turbine robot kinematics analysis |
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