四轴电驱多功能土工离心机器人的设计

Design and research of the 4-axis electrically-driven multi-functional geotechnical centrifugal robot

电驱土工离心机器人结构紧凑、定位精度高,可在高离心场下完成复杂的试验操作。因其研制难度大而仅有几台问世,且性能参差不齐。现利用伺服电机驱动精密丝杠,丝杠螺母带动移动支架在直线导轨上精确地直线定位和伺服力矩电机精确地角度定位,研制可在100g离心场下实现大行程、高加我能力和高重复精度的四轴联动定位全电驱土工离心机器人。并针对该机器人,开发了工具更换和循环加栽等功能,有效拓展了土工离心模拟试验动态加栽能力。

The electrically-driven geotechnical centrifugal robot,which has a compact structure and high precision in positioning,can perform complicated tests in the high centrifugal field.Because of great difficulty in development,only a few robots have been designed,with uneven performance parameters.In this article,a new electrically-driven geotechnical centrifugal robot with a 4-axis linkage,a large stroke,large load-bearing capacity and high precision in repeatability is developed,which is used in the lOOg centrifugal field.The robot uses the servo motors to drive the precision screws,and the screws*nuts drive the moving supports along the linear guide rails,so as to achieve the straight line positioning.The servo torque motor is used to locate the angle accurately.In addition,in order to improve the dynamic loading capacity in the centrifugal field,a series of functions are developed,such as two-way loading,tool adjustment,and so on.