Barrel Scrubbing Robot Mechanical System Design And Analysis

The purpose of this study is to design a portable and highly effective robot for barrel-scrubbing work. And the robot can carry measure and maintain devices in order to finish the scrubbing, measuring and maintaining work.This paper has done some research and analysis on the mechanical system of barrel-scrubbing robot. There are three main aspects included in this paper. Firstly, a overall plan for the robot has been made. Secondly, the optimum design of the moving and scrubbing parts has been done. Thirdly, the dynamics analysis of the robot and the finite element analysis of the key parts of the robot have been finished.Based on the research and analysis of the barrel-cleaning methods and pipe-robot technology home and abroad, the purpose and the meanings of barrel-scrubbing robot were illustrated. On account of the demands of barrel-scrubbing wok and the problems in it, the design demands and indexes of the robot were put forward, and the overall design for the moving, scrubbing and controlling parts were made. With the method of Mechanical Optimum Design, the Optimum Design of the moving and scrubbing mechanism were finished, and the design details of the main part were given. In the end, in order to test and verify the design, the 3D model of the robot was finished by using SolidWorks software, the kinematics and dynamics of the robot in barrel were analyzed, and the finite element analysis of the main part were done by using ANSYS software.Through the research of the barrel-scrubbing robot, a powerful, compactive, easy disassembled, steady and well-adapted mechanical system has been designed. The analysis and the research show that the barrel-scrubbing robot fits the design demand preferably, and it has reliability with reserve, has greater space to improve in making it much little and more portable.