Structural Design and Implementation of Manipulator of Rail Vehicle Depot Inspection Robot
Aiming at the narrow and complex working conditions faced by the daily inspection of rail vehicles,a seven joint series manipulator is innovatively designed based on the industrial demand.The manipulator adopts the simulation test method to deter-mine the design target characteristics and basic structural dimensions,and innovatively applies the configuration that the rotation axis of the third joint is perpendicular to the rotation axis of the second joint,integrated joint drive,the overall size of the slender manipulator,and the design of carbon fiber lightweight connecting rod.In this paper,the prototype application effect simulation in multiple stages is carried out based on the actual working conditions,and the manipulator dynamic simulation is carried out to check the joint torque and static simulation to check the maximum displacement of the end of the manipulator.Through the prod-uct application,it is verified that the design characteristics of the manipulator can well adapt to the narrow and complex rail vehi-cle inspection environment and achieve the design goal.This method is suitable for the design of manipulator in special environ-ment,and the manipulator in this paper can also be extended to other application fields.
NETL
NSTL
万方数据
维普
