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针对目前内浮顶罐清洗机器人质量大,不便于运输,变形机构设计较复杂等问题,提出轻量化、小型化的优化目标。对机器人进行受力分析,采用力矩平衡稳定分析方法,通过理论计算对机器人宽度和接地履带长度进行优化。并针对机器人工作过程中爬梯进罐、罐内制动两种特殊情况,利用力矩平衡方程,分析优化后的尺寸是否满足稳定性要求。为了进一步验证优化结果的合理性,采用ADAMS仿真软件,分别对清洗作业、爬梯进罐、罐内制动3种情况进行仿真分析,根据机器人重心到支点的连线与地面形成的夹角变化,判断机器人是否会发生倾翻,并根据仿真结果得出机器人不发生倾翻的临界条件,从而为内浮顶罐清洗机器人的后续研究提供借鉴。
In order to solve the problems such as high quality, inconvenient transportation and complicated design of deformation mechanism of floating dome tank cleaning robot, the optimization goal of lightweight and miniaturization is put forward. The mechanical analysis of the robot is carried out. The method of moment balance stability analysis is adopted to optimize the robot width and the length of the grounding track through theoretical calculation. According to the two special cases of the ladder-in and the tank-brake in the working process of the robot, the torque balance equation is used to analyze whether the optimized size meets the stability requirement. In order to further verify the rationality of the optimization results, ADAMS simulation software was used to simulate the cleaning operation, ladders and tank brakes respectively. According to the change of the included angle between the connection line of the robot’s center of gravity and the fulcrum and the ground, Judge whether the robot will tip over, and draw the critical condition that the robot does not tip over according to the simulation results, so as to provide reference for the follow-up study of the inner floating roof tank cleaning robots.