The Structure Analysis And Optimization On Spherical Tank Work Robot

Large spherical tank is common storage container in the fields of petroleum,chemical industry,machinery,etc.It is need to regularly clean and detect for the inner wall of the weld and surface.The traditional artificial labor have a lot of disadvantages,such as large labor intensify,bad working environment,low working efficiency,and have a greater risk.Therefore,putting forward a robot of the inner wall of spherical tank instead of the traditional manual operation,it has broad application prospects.According to the actual robot working environment,specific contents and features of the work process,combined with the mechanical structure design principle,design the main performance index parameters of the robot body structure,choose the rational adsorption,motion and driving system of the robot.Proposes a double foot wall climbing robot is used for sphere inner walls.the robot use parallel mechanism form leg mechanism,drive by lead screw slide,can realize the obstacle crossing,turn along the wall of the uniform motion,turn a corner etc.Applies to the larger diameter range of the spherical tank operation.The robot driving mechanism,frame mechanism,leg mechanism and a turning mechanism is analyzed and designed in detail.Kinematic analysis and trajectory planning for leg member of spherical tank work robot.Set up mathematical model of spherical tank work robot leg member.Analysis and obtain the position of the positive solution,inverse solution and velocity,acceleration equation.Using the five order polynomial method of space rectangular coordinate system and Matlab,obtain the velocity,angular velocity and angular acceleration functional image of the each joint and time,the motion shape of the end of the leg mechanism is determined.Analysis of mechanical properties of adsorption system.Establishing stable plane in the process of robot motion,use Matlab to get the condition of no sliding and overturning unstable state.The relation function of the angle between the inner wall and the vertical direction and the adsorption force,ensure reliable adsorption of the robot on the wall.Analysis and optimization of robot's static characteristics based on ANSYS Workbench.Establish element model,analysis of the stress and deformation of the whole structure of the robot,analysis for nephogram,can get the robot's strength and stiffness to meet the requirements,on the basis of this,multi-objective optimization is carried out.The robot has reduced its own weight,movements is more flexible.Through designing and optimizing spherical robot structure,analysing leg member,adsorption system,determined the robot whole structure model,on the basis of this,create a robot prototype.