轨道车辆库检机器人机械臂的结构设计与实现

Structural Design and Implementation of Manipulator of Rail Vehicle Depot Inspection Robot

针对轨道车辆车底日常检查面对的空间狭窄且复杂的工况,基于工业需求,创新设计了一种七关节串联机械臂。这一机械臂采用了模拟试验方式确定设计目标特征和基本结构尺寸,创新应用了第三关节旋转轴线与第二关节旋转轴线垂直的构型、集成化关节驱动、细长的机械臂整体尺寸和碳纤维轻量化连杆设计。这里以实际工况开展了多个阶段的样机应用效果模拟,开展了机械臂动力学仿真校核关节力矩和静力仿真校核机械臂末端最大位移,通过产品应用验证了该机械臂设计特征能够很好地适应空间狭窄且复杂的轨道车辆检查作业环境,实现了设计目标。该方法适应于特殊环境应用需求下的机械臂设计,这里机械臂也可推广到其他应用领域。

Aiming at the narrow and complex working conditions faced by the daily inspection of rail vehicles,a seven joint series manipulator is innovatively designed based on the industrial demand.The manipulator adopts the simulation test method to determine the design target characteristics and basic structural dimensions,and innovatively applies the configuration that the rotation axis of the third joint is perpendicular to the rotation axis of the second joint,integrated joint drive,the overall size of the slender manipulator,and the design of carbon fiber lightweight connecting rod.In this paper,the prototype application effect simulation in multiple stages is carried out based on the actual working conditions,and the manipulator dynamic simulation is carried out to check the joint torque and static simulation to check the maximum displacement of the end of the manipulator.Through the product application,it is verified that the design characteristics of the manipulator can well adapt to the narrow and complex rail vehicle inspection environment and achieve the design goal.This method is suitable for the design of manipulator in special environment,and the manipulator in this paper can also be extended to other application fields.