| According to the needs of nuclear emergency response and rescue,this paper carries out the research on sawing robot,mainly including the system design of sawing robot,kinematics analysis of sawing hybrid robot,vehicle tool library and automatic tool change control,robot sawing technology and experiment.The full text has achieved the following results:The overall scheme of sawing robot system suitable is constructed,and a high stiffness hybrid manipulator is created.Stiffness analysis and simulation show that the optimized rotating support mechanism can meet the sawing requirements of disassembly robot.The end sawing operation mechanism of pneumatic spindle suitable for irradiation application scene is designed,and the micro lubrication tool cooling scheme suitable for on-site mobile sawing operation is designed.Through the kinematic analysis of the mechanism of the 6-DOF Hybrid sawing robot and the coordinate system of the 6-DOF Hybrid Robot with rotating axis is established.The position inverse solution model and forward solution model of the sawing hybrid robot mechanism is derived,also to the normalized velocity model and acceleration model.Through the design of robot vehicle mounted tool magazine and the research of automatic tool change control technology,the tool change motion plane and the end rotating chuck are established.Based on the constraint conditions of tool magazine design,a scheme of on-board tool magazine is proposed,the tool change end states of left and right vectors are designed,and the installation position of on-board tool magazine without tool change interference is determined.The automatic tool change control process is designed.The tool change trajectory of the rotating chuck and the rotation angle of the rotating support seat of the hybrid manipulator suitable for this system is proposed,.The research of robot sawing technology is carried out,the coordinate conversion relationship between sawing target and base system is established,and the optimal sawing operation plane of hybrid manipulator under cross cutting and longitudinal cutting trajectories is analyzed and established.Aiming at two typical sawing objects,flat plate and pipeline,the trajectory and attitude planning of automatic continuous sawing of hybrid manipulator are realized.The test comparison and loss analysis of various types of saw blades show that cermet and alloy steel have better sawing performance,and cermet saw blades are more wear-resistant than alloy steel saw blades,which is the best choice for robot sawing.The speed regulation test of sawing shows that the stable cutting of stainless steel and carbon steel can be realized when the minimum speed of cermet saw blade is more than240 r / min.The above research results have been partially used in the system development of disassembly robot related to nuclear emergency disposal,which provides technical support for the product function development and engineering application of disassembly robot,. |
