Design Of Obstacle-crossing Nuclear Robot And Optimization Of Obstacle-crossing Performance

In the wake of development in nuclear energy,the maintenance of nuclear energy equipment and the disposal of nuclear emergency situations have gradually received attention from all walks of life.Meanwhile,the research nuclear robot as a substitute for entering into dangerous nuclear environment has become one of the indispensable links in the development of nuclear energy nowadays.For the design of operating robot in typical nuclear environment,the thesis carries out the research of nuclear robot with high chassis and strong obstacle crossing characteristics,completes the design of nuclear robot and the optimization of obstacle crossing,which is of great significance to perfect the national nuclear emergency technology reserve.The project was supported by the national "The 13 th five-year" nuclear energy development project.For robots working in unknown environments with multiple barriers,the thesis makes an in-depth investigation and analysis of the robot operation scene and the structure of various nuclear robots,and develops a modular adaptive crawler robot structure.Based on three-dimensional software Solid Works,a three-dimensional model of robot is established,and the key components of track structure are checked by Ansys,and the structural parameters of the robot are optimized by using dynamic software Recurdyn.For the actual needs of stable operation and strong obstacle crossing in the operation scene of robot,a combination of orthogonal experiment and simulation is proposed to optimize the structural design parameters of robot.In this thesis,the influence of different design parameters on the driving stability of the crawler robot is studied by theoretical analysis.Meanwhile,the orthogonal experiments on the design parameters of the crawler chassis are carried out,and the factors that have a significant effect on the smoothness of the crawler robot are determined with fewer experimental times,as well as the better parameter combinations.Finally,orthogonal experiments combined with simulation analysis are used to verify the change trend of design parameters on the smoothness of track during the driving process.Under the condition that the robot structure space is limited,combined with the track static skidding theory and the track simulation of the dynamic software Recurdyn,the relationship between the design parameters of the track structure and the obstacle crossing performance of the crawler robot is obtained,and the adaptive method of the previous angle is proposed to optimize the obstacle crossing performance.For the crawler robot with manipulator,in order to improve the performance of obstacle crossing,a method of improving the height of obstacle crossing with dynamic programming of manipulator is proposed.Taking UR5 as an example,this thesis establishes the centroid change law of the crawler robot under different attitude of the manipulator,and improves the obstacle crossing performance of the robot by combining the motion of the manipulator.For the large random vibration in the track structure,which will cause some damage to the manipulator,in order to improve the reliability of the robot in the use scene,the anti-disturbance of the attitude of different manipulator in the linear driving is analyzed,and the manipulator attitude and installation position with better anti-disturbance in the driving process of the robot are obtained.After completing the optimization of the design parameters of the crawler robot,the physical prototype of the robot is built and the performance indexes of the robot are tested,the basic performance parameters of the robot are obtained,the experimental data meet the design index.Meanwhile,the correctness and feasibility of the theoretical research and design of the thesis are verified.