摘要
针对实现关节式爬管机器人夹紧机构的结构最优化的问题,应用三维造型软件SolidWorks建立了爬管机器人的虚拟样机,运用动力学分析软件ADAMS对该机器人的夹紧机构进行了运动仿真,通过ADAMS虚拟样机技术,检测了滚轮与管道的接触情况,优化了各个结构件的尺寸,完成了夹紧机构的优化设计,给出了夹紧机构动作的仿真曲线和优化路径曲线,得到了最优的数据结果。研究结果表明,当杆7所受的推力为65.041N时,该机器人能够稳定地运动,从而能够对电动机参数进行准确地选取,可为后期的实物验证打好基础。
Aiming at realizing the optimization of clamping mechanism of the climb pipe robot,using three dimensional modeling software Solid Works climb pipe robot virtual prototype was established,the robot motion simulation of clamping mechanism was conducted by using dynamic analysis software ADAMS,through the ADAMS virtual prototype technology,the contact between the wheel and the pipe was tested,the size of each structure was optimized,the optimal design of clamping mechanism was completed,the action of the simulation curve and optimizing the path curve of the clamping mechanism was given,the optimal results of the data was gained. The results indicate that when thrust of rod 7 is 65. 041 N,the robot can be moved stability,so it is able to accurately select motor parameters and it is set the stage for the actual product to verify in the future.
出处
《机电工程》
CAS
2015年第3期328-332,共5页
Journal of Mechanical & Electrical Engineering
关键词
关节式爬管机器人
夹紧机构
运动仿真
优化设计
climb pipe joint type robot
clamp mechanism
motion simulation
optimization design
