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基于UR5机器人的水下清洗装置工作空间分析及优化

Workspace Analysis and Optimization of Underwater Cleaning Device Based on UR5 Robot
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摘要 清洗核电站海水格栅上附着杂物是一项危险、繁重和复杂的工作,文中提出一款水下清洗装置可以实现安全高效地完成清洗工作,该装置基于UR5串联机器人,并配备基座导轨、支承机构和机械抓手等。首先利用D-H参数法建立机器人的运动学正逆解模型,并采用蒙特卡洛法得到机器人的工作空间,然后结合清洗装置本体对机器人运动的干涉,优化机器人关节变量约束空间,并采用蒙特卡洛法得到清洗装置的工作空间。最后研究确定基座在基座导轨上滑动的行程设计值为3.92 m、支承机构支撑腿的行程设计值为4.03 m,能够满足整个清洗装置的工作空间覆盖核电站中直径约5.5 m的海水格栅,同时也满足设备轻量化和小型化设计原则。 It is a dangerous,heavy and complex work to clean the sundries attached to the seawater grid of nuclear power plant.This paper proposes an underwater cleaning device which can complete the cleaning work safely and efficiently.The device is based on UR5 series robot,and the device is equipped with a base guide rail,a support mechanism and a mechanical gripper.The D-H parameter method is used to establish the forward and inverse kinematics model of the robot,and the Monte Carlo method is used to obtain the workspace of the robot.Considering the interference of the cleaning device on the robot motion,the joint variable constraint space of the robot is optimized,and the Monte Carlo method is used to obtain the workspace of the cleaning device.Finally,the value of the sliding stroke of the base on the base guide rail is determined to be 3.92 m,and the value of the stroke of the support leg of the support mechanism is determined to be 4.03 m,which can satisfy the working space of the cleaning device to cover the seawater grid with a diameter of about 5.5 m in the nuclear power plant,and also meet the design principles of equipment lightweight and miniaturization.
作者 杨俊豪 王炳炎 王坤 陈茜 张安锐 万浩 陈相羽 YANG Junhao;WANG Bingyan;WANG Kun;CHEN Qian;ZHANG Anrui;WAN Hao;CHEN Xiangyu(The key Laboratory of Science and Technology on Reactor System Design Technology,Chengdu 610213,China)
出处 《机械工程师》 2023年第5期88-91,共4页 Mechanical Engineer
关键词 核电站 格栅清洗 串联机器人 运动学分析 工作空间分析 nuclear power plant grid cleaning series robot kinematics analysis workspace analysis
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