Turbine Repair-specific Inverse Kinematics And Simulation

The robot studying in this subject is used for being polished and welded to the hydraulic turbine by the blade surface corroded. The work of overhauling of the hydraulic turbine , the environment is bad that work, labour intensity is great, time limit for a project is short. Homework weak to adopt craft, poor quality have, So we propose adopting the automation equipment to carry on the repair of the hydraulic turbine.After the robot studied carries on three-dimensional modeling, have extremely important meanings against the inverse kinematics analysis and emulation , it is the base of robot sport control and orbit foundation of planning, can understand effectively whether the robot structure designed reaches anticipated technology , performance index , whether could adapt to its working environment, thus revise and achieve the goal of booking in time, in order to improve the efficiency and accuracy designed , optimize the structural design of the robot.Based on Special-purpose robot for hydraulic turbine repair, direct against the characteristic of its noumenonn with extremely complicated structure, it covers with virtual design for robot by using three-dimensional engineering design software Pro/Engineer, including 3D modeling, fictitious assemble and output of model,etc. of spare part. Aimed at inverse kinematics of special-purpose robot for hydraulic turbine repair, to all respects of its kinematics, including displacement is being analysed, goes against the question, against Jacobian matrix, speed analyse , inverse analyse , carry on detailed analysis and calculate against question and acceleration against question, provide the calculation procedure worked out on the basis of Matlab software at the same time .And utilize Matlab interface development environment to design kinematics of the robot to calculate interfaces. Image, ocular reflection hydraulic turbine repair special-purpose robot every joint variable and end location appearance relation of matrix. Finally , use the three-dimensional project to analyse that software ADAMS carries on the dynamic emulation of kinematics to the robot, prove to the question analysis result of the knowledge that the robot studied moves.