| Generally speaking, large hydraulic turbine always rotates fast and the abrasion of the surface of the runner is very serious, so periodical examination and repair are necessary. Not only does the traditional method waste lots of material resources and manpower, but also is low efficiency, bad quality and hard work in serious environment. The overseas equipment is very expensive, moreover , it does not serve the turn. It is time for us to develop our own automatic equipment to examine and repair our hydraulic turbine. The research on this aspect just starts and the study about manipulator for measuring blade shape of water turbine runners in site is almost a blank in our country.In this paper, according to the practical situation, the special structure of manipulator was designed, the structural characteristic and the working principle were described, the geometrical model was built, the kinematic analysis was described by D-H , and the inverse solution was gotten by analytic method. In the process of seeking the inverse solution,the traditional method abandoned, a new "way----IHCA was gained byextracting the advantages of Hill Climbing and enlightening from the numeral described in the computer threory, and the algorithm flow chart was written out clearly. Laws of the new method were discussed in-depth by simulation and statistics, and the valuable result was acquired. Such speeds the convergent velocity and boosts up its practicability. Finally, the feasibility, superiority, and good real-time property of IHCA are all proved by experiment.All of the contents represent strong innovation, theoretic value and realistic significance. Research on kinematic analysis founds the theoretic base for farther study. IHCA will be a new way to solve theinverse kinematic problem. It may be used for reference to the blending of multi-subject that the advanced technology in Intelligent Artificial is successfully used to solve the inverse kinematic problem . |
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