Turbine Repair Special Robot Kinematics Analysis And Simulation

Waterpower is distributed all over the world, hydraulic turbines of power stations are subjected to destruction due to serious cavitation and wear, so that they need to be overhauled regularly to ensure normal running of the power stations. At present, the means for repairing hydraulic turbine blades in our country are still manual weld and manual polish. The working condition is bad and labour intensity great for workers and overhaul efficiency low and inferior. Cavitations in foreign hydraulic turbines appear in clear water condition, so its destructive extent is not far more serious than in Yellow River in our country. Stronger stiffness and more agility are required for Special-purpose robot for hydraulic turbine repair used in our country, especially robot for polishing after weld. Foreign robot for hydraulic turbine repair could not satisfy our working require, so we develop special-purpose robot system that is used to polish and weld repair cavitated flow path surfaces of hydraulic turbines on all locations.Based on Special-purpose robot for hydraulic turbine repair, aimed at extremely complicated configuration of the robot, using Pro/Engineer software who acts for new standard in the mechanical CAD field at present, the paper establishes configuration model of the robot and accurately creates all components and assemblies of the robot.Aimed at special-purpose robot for hydraulic turbine repair, in this paper each aspect of kinematics for the robot including forward and inverse solution of pose, workspace, forward and inverse Jacobian matrix, differential motion, forward and inverse solution of velocity and acceleration are detailed analyzed and computed, and then their programs are given in Matlab language.Using Matlab and its Add-ons Simulink, through establishing simulation maths model, the paper integrates open chain vector equation (describing motion restriction), numerical value simulation (computing velocity and displacement while given acceleration) and matrix algebra, etc. to accomplish dynamic simulation for the robot and verifies the results for kinematics of the robot using analysis method, and it establishes foundation for following study for the robot such as kinetics, control, etc.