风电叶片检测机器人设计与运动仿真研究

Design and motion simulation of a wind turbine blade detection robot

为了降低风电叶片检测维修的成本,综合设计制作了一种可以在叶片表面攀爬检测的六足机器人。根据叶片参数确定了机器人整体尺寸,采用SolidWorks软件建立了机器人整体模型,设计了腿部吸附结构。通过静力分析,建立了机器人吸盘吸附的数学模型,以保障机器人行走的安全稳定性。分析了机器人整体行走步态,设计了攀爬行走迈步过程并设计了其关节控制曲线,通过ADAMS软件仿真模拟了机器人在叶片表面的攀爬行走。最后,设计了机器人整体控制系统,并制作样机进行了机器人攀爬实验。仿真与实验结果表明,所设计的机器人结构可以稳定实现攀爬运动,吸盘吸附系统安全可靠,实验结果与仿真的行走步态一致,验证了以攀爬步态行走的可行性。

In order to reduce the cost of wind turbine blade detection and maintenance,a hexapod robot which can climb on the surface of the blade was designed and manufactured comprehensively.According to the blade parameters,the overall size of the robot was determined,SolidWorks software was used to establish the overall model of the robot,the leg adsorption structure was designed.Through static analysis,the mathematical model of sucker adsorption was established to ensure the safety and stability of robot walking.The overall walking gait of the robot was analyzed,the climbing and walking process and the joint control curve were designed,and the robot climbing and walking on the surface of the blade was simulated by ADAMS software.Finally,the overall control system of the robot was designed,and a prototype was made for the robot climbing experiment.The simulation and experimental results show that the designed robot structure can stably realize the climbing movement,and the sucker adsorption system is safe and reliable.The experimental results are consistent with the simulated walking gait,which verifies the feasibility of the climbing gait.