可折展缆索检测机器人运动机构结构设计与优化

Structural Design and Optimization of Movement Mechanism of Folding Cable Inspection Robot

为解决现有缆索检测机器人对多直径缆索互换性较低与抱缆力不能自适应调整问题,提出一种具有可折展结构、可适应多种直径尺寸(68 mm~195 mm)斜拉索的缆索检测机器人运动机构设计。基于SolidWorks建立机器人三维模型,利用旋量理论及图论对机器人折展机构自由度与运动姿态进行数学建模与分析,通过有限元软件ANSYS对折展机构进行以优化模态为目标的拓扑优化与验证。结果表明,机器人可进行单自由度折展运动,可折展直径65 mm~300 mm,结构优化后机构各姿态一阶模态特征值最低提升至134.5 Hz,校核其最大应力值114.67 MPa,满足强度要求。经制作样机并实验,验证得到实际工况下的最大应力值为116.55 MPa,且振动试验中未发现明显的共振、变形或断裂现象,本研究可为同领域机器人运动机构结构设计与优化提供参考。

In order to solve the problems of low interchangeability of multi diameter cables and self-adaptive adjustment of cable holding force of existing cable detection robots,a motion mechanism design of cable detection robot with collapsible structure and ability to adapt to stay cables with multiple diameter values(68-195 mm)is proposed.In this paper,the three-dimensional model of the robot is established based on SolidWorks.The degree of freedom and motion attitude of the robot folding mechanism are mathematically modeled and analyzed using spinor theory and graph theory.The topology optimization and verification of the folding mechanism with the objective of optimizing the mode are carried out using the finite element software ANSYS.The results show that the robot can carry out single degree of freedom folding movement,and the folding diameter is increased to 65-300 mm.After structural optimization,the minimum first-order modal eigenvalue of each attitude of the mechanism is increased to 134.5 Hz,and its maximum stress value is checked to be 114.67 MPa,which meets the strength requirements.Through the prototype experiment,the maximum stress value under the actual working condition is measured to be 116.55 MPa,and no obvious resonance,deformation or fracture is found in the vibration test.This research can provide a reference for the structural design and optimization of robot motion mechanism in the same field.