DYNAMICS ANALYSIS AND SIMULATION ON SPECIAL-PURPOSE ROBOT FOR HYDRAULIC TURBINE REPAIR

机译：水轮机修造专用机器人的动力学分析与仿真

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In the basis of the plan and kinemics analysis of special-purpose robot for hydraulic turbine repair (SPRHTR), dynamics equations are written and solved, and joint torques and actuation torques are calculated, this lays the foundation of robot control. Based on the virtual prototype, simulation model is constructed and simulation experiments of kinematics and dynamics for the robot are done in ADAMS software. The paper analyzes and verifies not only manipulation and force in motion under polishing and welding conditions but also multi-purpose possibility and the plan of the robot.

机译：在对水轮机维修专用机器人（SPRHTR）进行规划和运动学分析的基础上，编写并求解了动力学方程，计算了联合转矩和驱动转矩，为机器人控制奠定了基础。在虚拟样机的基础上，建立了仿真模型，并在ADAMS软件中进行了机器人的运动学和动力学仿真实验。本文不仅分析和验证了抛光和焊接条件下的操纵和运动力，还分析并验证了机器人的多种用途和计划。

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来源
《International Conference on Advanced Design and Manufacture(ADM2006); 20060108-10; Harbin(CN)》|2006年|P.818-822|共5页
会议地点 Harbin(CN)
作者
Ping Yang; Heqi Li; Feng Yu; Shuzhen Zhang;
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作者单位

College of Mechano-electronic Engineering, Lanzhou University of Technology, Lanzhou, China;

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会议组织
原文格式 PDF
正文语种 eng
中图分类机械制造工艺;
关键词
special-purpose robot for hydraulic turbine repair (SPRHTR); screw; dynamics simulation;

机译：水轮机维修专用机器人；螺钉；动力学仿真;

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专利

1. EQUIPMENT MODELLING AND WORKSPACE SIMULATION OF SPECIAL-PURPOSE ROBOT FOR HYDRAULIC TURBINE REPAIR WITH 3D STUDIO MAX [J] . Li Heqi, Yang Ping, Zhang Shuzheng, Welding in the World: Journal of the International Institute of Welding: Journal of the International Institute of Welding . 2005,第1a2期

机译：带有3D STUDIO MAX的水轮机修理专用管道机器人的设备建模和工作空间模拟
2. Numerical simulation and rotor dynamic stability analysis on a large hydraulic turbine [J] . Ru-Zhi Gong, Hong-Jie Wang, Quan-Zhong Liu, Computers & Fluids . 2013,第Null期

机译：大型水轮机的数值模拟和转子动态稳定性分析
3. Inverse Kinematics and Model Calibration Optimization of a Five-D.O.F. Robot for Repairing the Surface Profiles of Hydraulic Turbine Blades [J] . Carlos Humberto Llanos-Quintero, Jose Mauricio S.T. Motta, Renato Coral Sampaio International Journal of Advanced Robotic Systems . 2016,第3期

机译：五自由度的逆运动学和模型校准优化维修水轮机叶片表面轮廓的机器人
4. DYNAMICS ANALYSIS AND SIMULATION ON SPECIAL-PURPOSE ROBOT FOR HYDRAULIC TURBINE REPAIR [C] . Ping Yang, Heqi Li, Feng Yu, International Conference on Advanced Design and Manufacture . 2006

机译：用于液压汽轮机修复专用机器人的动力学分析与仿真
5. Simulation, analysis, and mitigation of vortex rope formation in the draft tube of hydraulic turbines. [D] . Foroutan, Hosein. 2015

机译：仿真，分析和缓解水轮机尾水管中涡流绳的形成。
6. Material Analysis and Molecular Dynamics Simulation for Cavitation Erosion and Corrosion Suppression in Water Hydraulic Valves [O] . Masoud Kamoleka Mlela, He Xu, Feng Sun, 2020

机译：水压阀气蚀和腐蚀抑制的材料分析和分子动力学模拟
7. Effects of viscosity on the performance of Hydraulic Power Recovery Turbines (HPRTs) by the means of Computational Fluid Dynamics (CFD) simulations [O] . Mosè Rossi, Gabriele Comodi, Nicola Piacente, 2018

机译：粘度对计算流体动力学装置（CFD）模拟方法液压恢复涡轮机（HPRTS）性能的影响
8. Dynamic Simulation of a Three Degrees of Freedom Hydraulically Activated Robotic Arm with Flexible Links [R] . Trabia, M. B., Yim, W. 1989

机译：具有柔性连杆的三自由度液压活动机器人臂的动力学仿真

DYNAMICS ANALYSIS AND SIMULATION ON SPECIAL-PURPOSE ROBOT FOR HYDRAULIC TURBINE REPAIR

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