Research On The Influence Of The Position Of X-ray Mobile Platform Flexible Manipulator On Vibration

X-ray nondestructive testing technology has been widely used in the GIS detection of electric power equipment.However,there are the problem that X-ray nondestructive testing is the low level of automation and the layout of detection devices depends mainly on manpower at present,which seriously affects the detection efficiency.The Yunnan Electric Power Research Institute developed the electric power equipment X-ray nondestructive testing mobile platform,which includes the main body of the mobile platform and a flexible manipulator.The flexible manipulator is mounted on the platform.The clamping device at the end of the flexible arm is used to install the X-ray detection device.Due to the complex physical environment of the substation,the motion of the mobile platform will cause severe vibration at the end of the manipulator,which will affect the detection effect and the service life of the manipulator.Therefore,it is necessary to study the vibration suppression method at the end of the X-ray moving platform flexible manipulator.Firstly,this paper use the Pro/E software to establish a simplified model of X-ray mobile platform flexible manipulator and use finite element analysis software ANSYS Workbench making modal analysis and random vibration analysis on different material properties and different structure of the manipulator.By comparing the simulation results of the relationship between material structure and the vibration at the end of manipulator,this paper provide the reference for the method to suppress the vibration of manipulator.Secondly,this paper summarized the relationship between the pose and the end vibration of the manipulator by the simulation research on different positions manipulator,and also proposed a method to suppress the end vibration of the manipulator by changing the pose of the manipulator.Finally,this paper simulated the obstacle crossing process of the X-ray mobile platform and measured the response acceleration of the flexible manipulator by acceleration sensor.This paper also validated the relationship between the pose and the end vibration of manipulator by the experiment result,and provided a reference for the realization of intelligent vibration suppression of the manipulator.