摘要
针对某国际工程调相机转子穿装过程中涉及设备价值高、体积和重量大、工作环境和辅助工具受限制等特点,设计了一套六自由度穿装调节系统,使调相机转子穿装得以安全、经济、高效地完成。根据机器人运动学理论,建立D-H坐标系,完成了穿装系统运动学分析。基于运动学矢量矩阵和穿装系统的作业特性,运用蒙特卡罗法对转子两端面圆周上的矢量点进行了工作空间分析。运用MATLAB 2016进行了运动仿真,绘制出了工作空间分布图,并结合仿真结果进行了风险分析。
A demand on safety,economy and efficiency for a condenser rotor installation was put forward to fulfill this international engineering with expensive and bulky equipment and situation of limited resources,moreover,a6-DOF rotor installation adjustment system is designed.A suitable D-H coordinates and kinematics matrix of the system are analyzed based on robot kinematics.According to the kinematics matrix and the characteristics of installation t system,the workspace of both sides'edges of Rotor is presented based on Monte Carlo method.According to the optimization of MATLAB 2016,the rotor's workspace diagram and the installation risk analysis is completed.
作者
杨凤杰
刘翔
刘浩
李沛
YANG Fengjie;LIU Xiang;LIU Hao;LI Pei(Dongfang Electric International Corporation,611731,Chengdu,China)
出处
《东方电气评论》
2020年第1期64-67,72,共5页
Dongfang Electric Review
关键词
国际工程
转子穿装
机构设计
运动学分析
工作空间
international engineering
rotor installation
mechanical design
kinematics
workspace
