压力容器检测机器人构型设计与工作空间分析

Configuration design and workspace analysis of a pressure vessel inspection robot

针对一种压力容器无损检测任务中人员安全的问题,对压力容器入口狭小、内部空间大、内部环境恶劣的特点进行了分析,对机器人的奇异性、负载能力、工作空间、安装方式和时间进行了研究,基于"臂腕分离"原则提出了一种六自由度串联机器人构型;利用Matlab软件对机器人的工作空间进行了仿真,通过三维建模描述了其工作过程,同时还利用机器人实体样机实验对机器人的负载性、安装方式和时间、工作空间进行了测试。研究结果表明,机器人的构型设计符合工作空间的要求,该机器人可以负载20 kg仪器顺利地完成检查任务,单个人可以安全地完成安装任务,并且将安装时间缩短到半个小时以内。该机器人的成功研制可以保障人员安全,这种构型方法为该类机器人的设计提供了参考依据。

Aimed at the artificial safety problems in the non-destructive testing tasks of a kind of pressure vessel, the features （ narrow en- trance,large interior space,the bad internal environment） of the pressure vessel were analyzed and the singularity,load capacity,workspace, the way and time of installation of the robot were studied. A kind of robot with 6 degrees of freedom was designed by arm-wrist separateness principle. The calculation and simulation were executed by Matlab software for the workspace of the robot and the process of its working was described through three-dimensional modeling. The load capacity,workspace,the way and time of installation of the robot were tested by the physical prototype experiment. The results indicate that the configuration of the robot meets the requirements of the workspace. The robot can successfully complete the inspection tasks with 20 kg instruments, and a single person can complete the installation tasks safely and the time of installation is less than half an hour. The robot successfully designed can ensure the safety of personnel . This configuration method pro- vides a reference for the design of such robots.