Structure Design And Research Of A Mobile Robot For Substation Safety Inspection

Robotics is a symbol of the modern science and technology. The emergence of the robot makes people free from some of the repetitive tasks, the production efficiency and product quality is greatly improved as well. Especially in recent years mobile robot which can finish different tasks in a more diverse environment has a rapid development. The wheeled robot is a key point in the research of the moblie robot because of it’s flexible movement and convenient control. As a typical representative of the mechanical and electrical products, the robot’s body is the root, Based on modern computer technology, with the guidance of the modern advanced design idea. The structure design of modern machine needs to use more efficient and more optimized means to implement.Based on the background above said.,This thesis focuses on the mechanism design of a wheeled mobile robot for substation safety inspection,and completes the structure statics and Kinematics simulation of it. The whole structure of the robot is divided into two big modules: Mobile car body and manipulator. The Mobile body adopts two driving wheel independent driven. The manipulator can realize three kinds of movement: horizontal rotation, linear movement and pitching, to make the manipulator arrived at every location flexibly.During the design process, based on the traditional mechanical design theory, the application of modern design methods: computer aided design(CAD) and computer-aided solving technology(CAE) makes the design of high efficiency. This thesis mainly completed tasks as follows: It divides the whole structure into different functional modules in the process of design to get the model of the robot; It builts 3-D model by using Pro/Engineer, Some key parts of the model use the parametric modeling method. It completes virtual assembly by using Pro/Assembly; It completes the kinematic simulation of key driving parts and the manipulator trajectory by the software Pro/mechanism; It implements Structure statics simulation analysis to verify the strength and stiffness of the key structure by using the ANSYS software, Furthermore, according to the simulation results, it optimizes the original structure.This thesis finally obtains a reasonable and reliable structure design of the mobile robot, Achieves the expected design goal. In the design process, a series of creative design of mechanical structures are showed. The application of modern design thoughts and integrated application of modern mechanical design methods has a certain reference value for the design of mechanical products.