土工离心机多轴机器人系统设计综述

Design of Multi-axis Robotic Manipulator on Geotechnical Centrifuge

详细地介绍了土工离心机不停机状态下进行试验模拟的重要设备——离心机机器人系统。在总结国内外同类设备的基础上,重点针对近年来中国工程物理研究院总体工程所研制的土工离心机多轴机器人系统进行分析。对该类设备结构设计、电气控制系统设计的关键技术问题和难点进行了介绍。目前中国工程物理研究院总体工程研究所研制的土工离心机多轴机器人最大加载能力可以达到l扭矩±10 N·m,x,y,z方向加载力分别为±2 500,±2 500,±18 000 N,且具备循环加载能力。随着技术的发展,土工离心机机器人系统将在土工离心模型试验过程中发挥更加重要的作用。

This paper detailedly introduced the multi-axis robot manipulator of geotechnical centrifuge-one of the most important facilities for in-flight centrifuge test. Based on the summary of similar facility in the world, the paper focused on the multi-axis robot manipulator manufactured by the Institute of Systems Engineering. The paper introduced the key technical issues and difficulties in the design of the structure and the electrical control system. The maximum load capacities of the robot can reach up to ±10 N·m torque, and ±2500 N, ±2500 N,±18000 N forces in the x, y, z directions. With the development of multi-axis robot manipulator, the multi-axis robotic manipulator will play a more important role in geotechnical centrifuge tests.