大型冷凝器清洗机器人设计及运动学分析

Design and Kinematics Analysis of Large Condenser Cleaning Robot

设计开发了大型冷凝器清洗机器人,该机器人结构简单,易于控制,能够对大型冷凝器进行长期自主在线清洗。建立了冷凝器清洗机器人的运动学模型,进行了正运动学分析和逆运动学分析,解决了关节变量的突变问题。机器人的工作空间能够覆盖整个冷凝器管束的分布空间,具有一定的灵活性。对冷凝器清洗机器人进行了运动学仿真分析,结果表明,该机器人的设计是合理的,能够满足其工作需要,为进一步研究奠定了基础。

A large condenser cleaning robot was designed herein,the structure of which was simple and was easy to control, and can on line clean large condenser automatically for long time. Model of ki nematics of the large condenser cleaning robot was founded, and the forward and inverse kinematics of which was analyzed. The catastrophe problem of the robot joint value was solved. The workspace of the robot was verified that covered distribution space of bunches of copper pipes of the condenser and the robot was high flexible. The kinematics of the large condenser cleaning robot was simulated and analyzed,and results indicate the designed endeffector is rational,and can meet the working require ments, which provides theory foundation for further researches.