Structure Research And Dynamics Analysis Of Sandblasting Robot For Large Components Of Offshore Platform

With the development of marine energy in China,the amount of steel used by equipment such as offshore platforms has gradually increased,and the demand for sandblasting on large steel structures has increased.Relying on manual sandblasting operations,the operator is in a dust and noise environment,which not only easily damages the operator's health,but also has the disadvantages of high labor intensity and low efficiency.Robot technology is used in sandblasting operations to reduce the risk of operators in sandblasting operations and improves the efficiency of sandblasting operations.Therefore,it is of great practical value and economic value to study the sandblasting robot suitable for large steel structures.Based on the research status quo of sandblasting robots and master-slave control robots,this paper proposes a sandblasting robot with rectangular coordinate system to meet the requirements of sandblasting operations on the surface of large steel structures of offshore platform,and combines the series manipulator to realize the adjustment of the robot's terminal angle.The sandblasting robot arm and the walking mechanism are designed in detail and the strength of the key parts are checked,and the key parts in the structure are designed.ANSYS Workbench is used for the modal simulation analysis of the sandblasting robot arm to verify the rationality of the structure design.This paper uses the standard D-H method to establish the kinematics model of the sandblasting robot,uses a set of Euler angles to complete the description of the robot's terminal angle,uses the MATLAB Robotics Toolbox to verify with stimulation the correctness of the kinematics model of the sandblasting robot,uses Lagrange method to complete the dynamics modeling analysis of sandblasting robot,verifies the correctness of the sandblasting robot's dynamical model and the rationality of joint design through the Simscape dynamical model,uses graphic method and Monte Carlo method to solve the workspace of the sandblasting robot arm and analyzes the terminal positioning error of the sandblasting robot based on the kinematic model of the sandblasting robot.According to the requirements of sandblasting operation,this paper designs the control system of the sandblasting robot,determines the master-slave control system scheme of the sandblasting robot and the off-line programming blasting path planning scheme for the horizontal plane,selects the key components involved in the control system of the sandblasting robot and determines the master-slave mapping relation between the joystick and the sandblasting robot,combined sandblasting robot dynamics simulation model,establish a mechatronics simulation model of the sandblasting robot based on Simscape and introduces feedforward control techniques,and provides a certain basis for the control system parameter adjustment in the next experiment by simulating to determine the control parameters of each joint.This paper develops the control software of the sandblasting robot based on Lab VIEW,develops a sandblasting robot prototype,based on the parameters of the control system simulation,adjusts the control parameters of each joints of the robot under the load condition,carries out the experiment of master-slave tracking performance of sandblasting robot to verify the feasibility of master-slave control system,carries out the experiment of master-slave sandblasting and automatic sandblasting on horizontal plane to verify the rationality of sandblasting robot's design.