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针对某电站水轮发电机组的水轮机转轮遭空蚀和磨损破坏的修复问题 ,介绍了混流式水轮机叶片现场修形用机器人的行走轨道及其手臂的最佳运行轨迹 ,并给出了叶片曲面的拟合方程和最佳运行轨迹的曲线方程 .为机器人的研制提供指导 .
Aiming at the problem of repairing cavitation erosion and wear failure of hydraulic turbine runner in a hydropower station, the optimal trajectory of the walking track and its arm of a robot for repairing a Francis turbine blade is introduced. The fitting equation and the curve of the best running trajectory equation for the development of the robot to provide guidance.