火电厂凝汽器在线清洗机器人机械臂减振技术-南京师范大学学报.PDFVIP

9 1 () Vo.l 9 No. 1 2009 3 JOURNAL OF NAN JING NORMAL UN IVERSITY ( ENG INEERING AND TECHNOLOGY EDIT ION ) M ar, 2009 火电厂凝汽器在线清洗机器人机械臂减振技术 陈 宁, 彭 伟, 吴楠楠 (, 221116) [ ] 300MW 3, , . , . . NACA0030, NACA0050. , , 3 , . 343% , . [ ] , , , , [ ] TP242. 6 [ ] B [ ] 1672-1292( 2009) 01-0040-04 V ibration-Reducing Technology for the Arm s of the On-line W ashing Submarine Robot in the Condenser of Power Plant C hen N ing, Peng W e,i W u Nannan ( School of M chan ical and E l ctrical Engin ring, Ch ina Un iv rsity ofM in ing andT chnology, Xuzhou 221116, Ch ina) Abstract: During th op ration of an und r-study ing subm arin on-lin wash ing robot in th cond ns rs w at r chamb r of a 300MW unit of th pow r p lant, it w ill fac thr disadvantag ous r gions, in w hich th vibration of th robots arm s w ill incr as gr atly und r th ff ct of th w at r and th r for th pos itioning of th robot w ill b difficu lt. Num rical smi u lation and w ind tunn l xp rmi nts ar carri d out to solv th probl m. It stat s that on of th ff ctiv m thods to d cr as th vibration and r sistanc is to add s lf-adaptiv rotating cow lings on th arms of th robot. Th prop r airfoil for th cow lings of th first and s cond arm s of th robot is NACA0030 and for th cow ling of third arm is NACA0050. Th data of w ind tunn l xp rmi nts show that, w ith th abov airfoil comb inations, th vibration of th m anipulator of th robot r duc s gr atly in th thr d isadvantag ous r gions. Th positioning accuracy of th robot can b mi prov d th n. B s id s, th pr ssur loss of th robot d cr as s by 343% , wh ich show s that th cow lings ar ff ctiv to r duc r