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Kinematics and Dynamics Analysis on the Manipulator of Abrasive Belt Grinding for High-pressure Vessels for Nuclear Power

Author: LiangQiang
Tutor: ZhangYi
School: Chongqing University
Course: Mechanical Manufacturing and Automation
Keywords: Manipulator Kinematics Dynamics Workspace ADAMS
CLC: TG580.6
Type: Master's thesis
Year: 2009
Downloads: 114
Quote: 1
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Abstract


Due to the special nature of nuclear power high-pressure container, grinding its robotic arm to have higher requirements. Belt grinding technology development to improve the competitiveness of domestic enterprises to explore the high-pressure container efficient grinding mechanism to fill the domestic blank intelligent and efficient grinding in the high-pressure vessel, and the use of \grinding robotic arm has become very tight. Thesis as an opportunity to develop a high-pressure vessel of nuclear power abrasive belt grinding robot arm six degrees of freedom manipulator kinematics and dynamics studies. Establish a simplified model of the six degrees of freedom of nuclear power high-pressure vessel abrasive belt grinding manipulator using DH method to establish the coordinate system of the manipulator rod, and calculate the mathematical model. Obtained under certain trajectory, the trajectory of the motion parameters of the joints as well as the end of the actuator, and ready for the manipulator statics, kinematics, dynamics analysis. Due to the larger size of the robot arm, the work space is very important for the design of the constituent rod, the paper uses Monte Carlo probabilistic algorithms the manipulator work space to solve manipulator work space diagram in MATLAB output, in order to very intuitive basis to determine the size of the rod. Established based on the second Lagrange equation of the manipulator dynamics equation, and the combination of ADAMS and MATLAB to solve the joint drive torque (or force). The paper uses three-dimensional modeling software Pro / E to establish the three-dimensional model of a nuclear power high-pressure vessel abrasive belt grinding robot arm through the seamless interface software MECHAMISN between Pro / E and ADAMS / Pro to the model data into ADAMS. Function as the speed of each of the joint to a certain trajectory of each joint drive, through simulation can be clearly observed that the movement of the manipulator, using ADAMS powerful measurement function measured by a series of movement of the manipulator motion characteristic parameters, such as joint displacement, velocity, acceleration, driving torque (or force), the lever member, the size of the kinetic energy, and thereby provide the basis for the selection of the drive motor for the respective joints. Finally, the driving torque (or force) the theoretical calculations and model measurements the driver torque (or force) compared to verify the correctness of the kinetic equation of the robotic arm. Laid a certain foundation papers for the next step of the nuclear power high-pressure vessel abrasive belt grinding robot arm to complete the preliminary development of the robotic arm.

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CLC: > Industrial Technology > Metallurgy and Metal Craft > Metal cutting and machine tools > Grinding and grinding machine > General issues > Grinding process
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