摘要
为了研究水电站水轮机修复专用机器人的动力性能,对其进行磨削工况模拟,通过Pro/E软件建立实体模型,并基于有限元分析软件ANSYS生成有限元模型,进行有预应力的模态分析,从而得出机器人前五阶固有频率和振型.结果表明:振动剧烈的部位主要是各个部件的结合部,分析结果可为机器人结构改进提供理论依据.
To study the dynamics performance of special robot for hydraulic turbine repair of hydraulic power plant,a polishing operation was simulated.A solid model of the robot structure was built on Pro/E,and a finite element model was built on ANSYS,and a pre-stressed modal analysis was done.At last the robot former five steps natural frequency and vibration model were obtained.The result reveals that severe vibration areas are each joint,and it provides theory basis on improving robot structure.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2008年第S1期155-157,共3页
Journal of Shanghai Jiaotong University
关键词
水轮机修复专用机器人
磨削工况
模态分析
special robot for hydraulic turbine repair
polishing operation
modal analysis
