Kinematics And Dynamics Analysis On The Manipulator Of Abrasive Belt Grinding For High-pressure Vessels For Nuclear Power

Because of the specificity of high-pressure vessels for nuclear power, the manipulator for high-efficient grinding it is demanded for a high-performance. In order to improve the competitiveness of enterprises, explore the high-efficient grinding mechanism of high-pressure vessels and fill the blank in the high-efficient grinding of high-pressure vessels for nuclear power in China, developing the manipulator for high-pressure vessels for nuclear power is very urgent by making full use of abrasive belt grinding,which is called universal grinding.At this time,the paper mainly focused on kinematics and dynamics analysis on the manipulator of abrasive belt grinding which has six degrees of freedom for high-pressure vessels for nuclear power.Firstly, the simplified model of the manipilator was built. Based on the D-H method, it built the coordinate on the joints, established the kinematics equations.Secondly, the kinematic parameters of the manipulator and the track of the end of the manipulator were solved under a certain trajectory, it's a prepareation for the research on its statics, kinematics, dynamics analysis of the manipulator. The consideration of the workspace is importance of the design of the manipulator as a result of its big size. It calculated the workspace of the manipulator, based on the Moterkalo arithmetic. The pictures of the workspace were output by MATLAB. That is an intuitive basis for the determination of bars'size.Thirdly, it built the dynamics equation of the manipulator, and inertia matrixes of bars were calculated by the use of MATLAB, which is ready to solve driving torques or driving forces of joints.Fourthly, it built the simple model of the manipulator in the software of ProEngineer, and transmitted it into the ADAM/VIEW by using the interface software MECHANISM/Pro. Then, joints'driving function were set to speed functions, the movement of the manipulator can be seen by simulation. According to the result of the simulation,it can got many data for the model of the manipulator.This paper laid the foundation for the next research on the manipulator , and finished the pre-development work of the manipulator.