毕业论文（报告）核电封头驱动管座焊接机器人运动规划与性能分析.docxVIP

核电封头驱动管座焊接机器人运动规划与性能分析摘要 在核反应堆的制造中，核电封头与控制棒驱动机构之间的J型坡口相贯线焊接是关键技术之一。要求精度高，焊后变形小，具有焊道形状复杂，施焊空间小等特点。通用焊接机器人难以满足要求，目前国内以手工焊接为主。本文在上海交通大学研制的腿式步行机器人结构基础上，根据核电封头驱动管座焊接作业需要提出了焊接机器人三种布局设计方案并进行了作业规划与仿真。首先通过分析封头尺寸关系，建立了焊接环境的数学模型。根据焊接的工艺要求，设计了焊接机器人的四足和六足三种结构布局方案，使用伸缩焊臂或横梁滑块作为焊接机构。建立机器人腿部机构的反解模型，基于反解对机器人进行身体与单腿的工作空间分析。设计了焊接机器人的移动策略，提出沿封头边沿旋转扫描与横跨封头直线扫描两种方法。基于静态稳定原理对机器人的步态规划，对四足焊接机器人设计了三种三一步态，对六足焊接机器人设计了三三步态与四二步态。进行机器人焊接作业规划，设计了避免干涉的焊接顺序与焊枪移动路径。建立了ADAMS仿真模型，利用二次开发功能对软件开发了焊接机器人仿真模块，提供了虚拟实验平台。最后利用ADAMS进行了焊接作业动力学仿真以及承载能力分析，取得了满意的效果。关键词： J型坡口焊接，控制棒驱动机构，焊接机器人，步态规划，ADAMS二次开发THE PERFORMANCE ANALYSIS AND MOTION PLANNING OF REACTOR PRESSURE VESSEL HEAD CRDM WELDING ROBOTABSTRACTDuring the manufacture of nuclear reactors, the J-groove weld between RPVH (Reactor Pressure Vessel Head) and CRDM (Control Rods Drive Mechanism) is one of the key technologies. It require high precision and small deformation. The difficulty lies in complex shapes of weld bead and limited welding space. Since universal welding robot cannot meet the requirements, most of domestic companies still use manual welding. According to the welding operation requirement, the thesis design three welding robot models base on the six-parallel-legged walking robot presented by Shanghai Jiaotong University. Firstly, by analyzing the RPVH and CRDM sizes, a mathematical model of the welding environment was built. According to the welding technological requirements, design a four-legged robot and two six-legged robots, which use adjustable welding arm or bar-slider mechanism as welding mechanism. The Inverse solution model of the robot is built. Analyzed the body workspace and leg workspace. The movement strategy of the welding robot is designed. Proposed rotating scan and straight line scan two methods. Based on static stability principle, designed three kinds of tripod gait for the four-legged robot, tripod gait and tetrapod gait for six-legged robot. Planning the welding sequence and torch travel path to avoid interference. ADAMS