本文選題：管外行走機(jī)器人 + 優(yōu)化設(shè)計(jì)��； 參考：《山東科技大學(xué)》2017年碩士論文

【摘要】：管外爬行機(jī)器人是一種被應(yīng)用在高空管道中來(lái)代替人工作業(yè)的機(jī)器人,能夠大大降低了人工檢測(cè)的風(fēng)險(xiǎn)和成本,具有重要的學(xué)術(shù)研究?jī)r(jià)值和工業(yè)應(yīng)用前景。本論文對(duì)國(guó)內(nèi)外現(xiàn)有的管外爬行機(jī)器人技術(shù)發(fā)展現(xiàn)狀以及應(yīng)用背景進(jìn)行了調(diào)研分析,提出了一種新型管外行走機(jī)器人的設(shè)計(jì)方案,該機(jī)器人是一種可在管道外表面前行和后行,具備跨越L型、十字型等特殊管道,能夠繞管道旋轉(zhuǎn)運(yùn)動(dòng)的機(jī)器人。該機(jī)器人最大的優(yōu)勢(shì),就是擁有其他機(jī)器人無(wú)法比擬的靈活性和可變形性,可以利用傳統(tǒng)爬行方式,發(fā)揮其多自由度、可變形的特點(diǎn),快速爬行越障等,具有較大的實(shí)用價(jià)值和理論研究。通過(guò)研究管外行走機(jī)器人抱緊機(jī)構(gòu)的結(jié)構(gòu),對(duì)其進(jìn)行參數(shù)化建模與最優(yōu)化設(shè)計(jì),建立了以抱緊機(jī)構(gòu)結(jié)構(gòu)最緊湊,輸出夾緊力最大的多目標(biāo)數(shù)學(xué)模型,保證抱緊機(jī)構(gòu)的各支點(diǎn)間相隔均勻,并且要求傳動(dòng)效率高,不發(fā)生運(yùn)動(dòng)干涉,可以完成夾緊或松開(kāi)工作管道,最終確定了機(jī)器人抱緊機(jī)構(gòu)的最優(yōu)尺寸;針對(duì)抱緊機(jī)構(gòu)、翻轉(zhuǎn)關(guān)節(jié)連接部位各個(gè)零件進(jìn)行三維建模,最后進(jìn)行了組合裝配,得到了管外行走機(jī)器人整體結(jié)構(gòu)的三維造型;在跨越爬行和繞管道旋轉(zhuǎn)能力上做了理論推導(dǎo),并重點(diǎn)介紹了管外行走機(jī)器人在跨越L型、十字型管道等的動(dòng)作姿態(tài)規(guī)劃等;利用ADAMS動(dòng)力學(xué)軟件對(duì)管外行走機(jī)器人跨越爬行L型管道和繞管道旋轉(zhuǎn)運(yùn)動(dòng)進(jìn)行了定性爬行仿真分析,驗(yàn)證了理論分析爬行跨越的可行性,為后續(xù)的控制過(guò)程提供指導(dǎo)和理論支持,解決了難以試驗(yàn)的限制:基于ANSYS Workbench對(duì)管外行走機(jī)器人的行走滾輪支架進(jìn)行有限元分析,對(duì)行走滾輪支架在靜態(tài)預(yù)緊力作用下的應(yīng)力應(yīng)變和變形位移量進(jìn)行求解,并對(duì)行走滾輪支架進(jìn)行有限元模態(tài)分析,為機(jī)械結(jié)構(gòu)安全穩(wěn)定提供了依據(jù)。
[Abstract]:Outer crawling robot is a kind of robot which is used in high altitude pipeline instead of manual work. It can greatly reduce the risk and cost of manual detection. It has important academic research value and industrial application prospect. In this paper, the present situation and application background of the existing pipeline crawling robot at home and abroad are investigated and analyzed, and a new design scheme of the outside tube walking robot is put forward. The robot is a kind of robot which can move forward and back on the outer surface of the pipe. It has a special pipeline, such as L-type, cross-type, and can rotate around the pipe robot. The greatest advantage of the robot is that it has the flexibility and deformability that other robots can not compare. It can make use of the traditional crawling mode, give play to its multi-freedom, deformable characteristics, and climb quickly and surmount obstacles, etc. It has great practical value and theoretical research. By studying the structure of the clamping mechanism of the robot walking outside the tube, the parameterized modeling and optimization design are carried out, and a multi-objective mathematical model with the most compact structure and the largest output clamping force of the clamping mechanism is established. Ensure that the fulcrum of the clamping mechanism is evenly separated, and requires high transmission efficiency and no movement interference, so that the clamping or loosening of the working pipe can be completed, and the optimal size of the robot clamping mechanism is finally determined. Finally, the 3D modeling of the whole structure of the robot walking outside the tube is obtained, and the theoretical derivation of the ability to cross and crawl and rotate around the pipe is made. The action posture planning of the robot crossing L type and cross type pipeline is introduced in detail. By using ADAMS dynamics software, the qualitative crawling simulation analysis of straddling L-type pipeline and rotating motion around pipeline is carried out, which verifies the feasibility of theoretical analysis of crawling span. It provides guidance and theoretical support for the subsequent control process, and solves the limitation that is difficult to test. Based on ANSYS Workbench, the finite element analysis of the walking wheel support of the off-tube walking robot is carried out. The stress strain and deformation displacement of walking roller bracket under static pretension force are solved and the finite element modal analysis of walking roller support is carried out which provides the basis for the safety and stability of mechanical structure.
【學(xué)位授予單位】：山東科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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