摘要
针对目前夹持式管道攀爬机器人夹持机构存在的不足,基于三点定心法设计了四连杆夹持机构。该夹持机构由四连杆夹持部分和丝杆传动部分组成,通过丝杠传动带动四连杆运动实现夹持机构夹持和张开。本文首先进行夹持机构设计,并进行了力封闭性分析;其次对夹持机构连杆进行优化,重量减轻了11.7%;接着通过ANSYS瞬态仿真分析夹持机构理论最大负载能力,进行机器人负载试验验证了该夹持机构的可靠性。
Due to the shortcomings of the clamping mechanism of a current pipe climbing robot, a four-bar linkage clamping mechanism is designed based on the three-point centering method. The clamping mechanism is composed of a four-link clamping part and a screw transmission part. The four-link movement is driven by the screw transmission to realize the clamping and opening of the clamping mechanism. Firstly, the clamping mechanism was designed and analyzed with force closure. Secondly, the connecting rods of the clamping mechanism were optimized, thus reducing the weight by 11.7%. Finally, the theoretical maximum load capacity of the clamping mechanism was analyzed with the ANSYS transient simulation. The pipe climbing robot′s load simulation verifies the reliability of the clamping mechanism.
作者
邵浩东
肖晓晖
SHAO Haodong;XIAO Xiaohui(School of Power and Mechanical Engineering,Wuhan University,Wuhan 430079,China)
出处
《机械科学与技术》
CSCD
北大核心
2022年第10期1483-1489,共7页
Mechanical Science and Technology for Aerospace Engineering
基金
国家重点研发计划项目(2018YFB2100903)。
关键词
夹持机构
优化设计
负载仿真
样机试验
clamping mechanism
design and optimization
load simulation
prototype test
