Design And Analysis Of Wind Turbine Blade Grinding Robot

Nowadays,the development of traditional energy in the world is facing great pressure,green energy has become a development trend,and wind power generation is one of the effective ways to use green energy.As the core component of wind power generation equipment,the degree of surface polishing of wind turbine blade directly determines the performance and maximum life of the equipment.Referring to the current research situation at home and abroad,aiming at the complex operation situation of large-scale wind power blade grinding operation,this paper designs a kind of eight-degree-of-freedom grinding robot based on gantry walking,in which six degrees of freedom can realize grinding operation.two degrees of freedom to realize the mobile adjustment of the workspace.According to the structure of the grinding robot designed in this paper,the kinematics and dynamics of the robot are analyzed and simulated,and its key parts are analyzed by finite element method.First of all,according to the original airfoil data of NACA64415,the coordinate transformation of airfoil data is completed by Python software,and the three-dimensional reconstruction of wind turbine blade is carried out by UG software.In order to finish the blade grinding better,according to the outer outline size range of the built blade model and the blade surface grinding requirements,a kind of eight-degree-of-freedom grinding robot based on gantry walking is designed by using UG software,the construction of virtual prototype is completed,and the selection calculation of main parts is carried out.Secondly,the kinematics analysis and dynamics analysis of the grinding robot are carried out,and the kinematics theoretical model of the grinding robot is established,and the forward kinematics solution,inverse solution and velocity Jacobian matrix are obtained.the correctness of the theory is verified by the Robotics toolbox in the Matlab software,and the trajectory planning is completed in the simulation environment,and the motion characteristic change curve of each joint is obtained.The workspace of the whole grinding robot is obtained by Monte Carlo iterative method.The theoretical dynamic model of the grinding robot is established,and the force and angle of the main joints are simulated by Adams software to verify whether the selection of the manipulator is reasonable.Finally,the finite element analysis of the whole and the main key parts is carried out by using ANSYS software to verify whether the design of the size parameters of the key parts is reasonable.Based on the modal analysis of the whole structure of the grinding robot,the first six mode shapes of the whole robot are obtained,and the possibility of resonance between the main parts is analyzed.