基于刚柔耦合的水轮机修复机器人导轨误差分析

Error Analysis for Rail of Turbine Repair Robot Based on Rigid-flexible Coupling

为了探究导轨式水轮机修复机器人在打磨过程中末端打磨精度问题,提出刚柔耦合仿真方法模拟导轨变形对机器人末端打磨精度的影响。以工业机器人PUMA560为本体建立机器人虚拟模型,并推导机器人正逆运动学解,借助MATLAB和ANSYS完成机器人轨迹规划和导轨柔性化。基于ADAMS仿真环境,模拟刚性体和柔性体导轨条件下的机器人末端打磨轨迹。对比发现导轨变形对机器人末端打磨精度的影响,及启动前期的不稳定状态,为后期导轨式水轮机修复机器人控制研究提供了依据。

In order to explore grinding accuracy problem of turbine repair robot in the process of grinding, rail deformation effect robot end grinding precision based on the method of rigid-flexible coupling. It builds robot virtual model based on the data of industrial PUMA560 robot,completes robot trajectory planning and flexible rail in MATLAB and ANSYS,it simulate robot end grinding trajectory when rail regard respectively as a rigid body and flexible body. Rail deformation effect robot end grinding trajectory through compared, and robot has instability state in the early time,it provides the gists for turbine repair robot control research.