工程设计学报2025，Vol.32Issue(5)：655-663,9.DOI:10.3785/j.issn.1006-754X.2025.05.124
涉核作业机器人刚度与末端变形研究
Research on stiffness and end deformation of nuclear related operation robot
摘要
Abstract
Due to the relatively large length of the gear transmission chain and self weight of the nuclear related operation robot,in order to evaluate the end deformation of the robot caused by self weight and load for design optimization and deformation compensation,it is necessary to study the stiffness and end deformation of the robot.Firstly,by analyzing the structure and transmission principle of the nuclear related operation robot,based on the D-H(Denavit-Hartenberg)method,a robot linkage coordinate system considering joint bias was established,and a robot kinematic model was established.Secondly,in response to the joint torques and end deformation under the self weight and load,a solution method was proposed that treated the robot's transmission joints as flexible components to calculate the joint torsional stiffness,and calculated the robot's linkage stiffness based on the Bernoulli-Euler beam assumption theory.The robot's end deformation model was comprehensively obtained.Finally,the robot's end deformation was simulated and analyzed using the finite element method,and the accuracy of the proposed end deformation model was verified through testing.The proposed end deformation modeling method of the robot has certain reference value for the design optimization and end deformation compensation of the robots.关键词
涉核作业机器人/全齿轮耦合传动/刚度/末端变形Key words
nuclear related operation robot/fully gear coupled transmission/rigidity/end deformation分类
机械工程引用本文复制引用
蒋君侠,张渊淞,仲笑欧..涉核作业机器人刚度与末端变形研究[J].工程设计学报,2025,32(5):655-663,9.基金项目
长三角科技创新共同体联合攻关项目(2024C04056,CSJ) （2024C04056,CSJ）
