大型水轮机叶形现场检测机械臂运动学分析

来源期刊：中南大学学报(自然科学版)2003年第2期

论文作者：黄志雄 何清华 吴万荣 谢习华

文章页码：170 - 172

关键词：运动学;机械臂;水轮机;检测;分析

Key words：kinematics; manipulator; turbine; measuring; analysis

摘    要：针对混流式水轮机叶片复杂的空间型面及叶片间的狭窄间距,设计了结构新颖的5个自由度水轮机叶形现场检测机械臂,并介绍了其主要结构特点及工作原理;采用Denavit-Hartenberg法建立了该多关节机械臂完整的运动学模型,并给出了在2种实际工作状态即θ=-θ₃和θ₂≠-θ₃时的运动学逆问题解.研究结果表明:此新型结构能够满足水轮机叶片现场检测的特殊要求,并使得控制简单、操作方便.该运动学模型的逆解完备,利于动力学及 相关控制的进一步研究.

Abstract: In allusion to the complicated free stereo curved surface and narrow space between blades, an original five-freedom field measuring manipulator is designed. The main structural characteristics and working principle of the multi-joint measuring manipulator are introduced. Integrated kinematics model is made by the method of Denavit-Hartenberg, and the inverse kinematics problem in the condition ofθ=θ₃andθ₂≠-θ₃ is also solved.Additionally, the kinematics model and the maturity of the inverse kinematics problem are both proved by simulation. The theoretic foundation for the detailed study of dynamics and interrelated control is set up. The results show that the new type structure can meet the special requirements of turbine blades’field measuring and make the control system and operation easier.