Research on stiffness and end deformation of nuclear related operation robot

doi:10.3785/j.issn.1006-754X.2025.05.124

Chinese Journal of Engineering Design

2025, Vol. 32

Issue (5): 655-663 DOI: 10.3785/j.issn.1006-754X.2025.05.124

Robotic and Mechanism Design

Research on stiffness and end deformation of nuclear related operation robot

Junxia JIANG(

),Yuansong ZHANG,Xiaoou ZHONG

School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China

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Abstract

Due to the relatively large length of the gear transmission chain and self weight of the nuclear related operation robot, in order to evaluate the end deformation of the robot caused by self weight and load for design optimization and deformation compensation, it is necessary to study the stiffness and end deformation of the robot. Firstly, by analyzing the structure and transmission principle of the nuclear related operation robot, based on the D-H (Denavit-Hartenberg) method, a robot linkage coordinate system considering joint bias was established, and a robot kinematic model was established. Secondly, in response to the joint torques and end deformation under the self weight and load, a solution method was proposed that treated the robot's transmission joints as flexible components to calculate the joint torsional stiffness, and calculated the robot's linkage stiffness based on the Bernoulli-Euler beam assumption theory. The robot's end deformation model was comprehensively obtained. Finally, the robot's end deformation was simulated and analyzed using the finite element method, and the accuracy of the proposed end deformation model was verified through testing.The proposed end deformation modeling method of the robot has certain reference value for the design optimization and end deformation compensation of the robots.

Key words： nuclear related operation robot fully gear coupled transmission rigidity end deformation

Received: 15 March 2025 Published: 31 October 2025

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Cite this article:

Junxia JIANG,Yuansong ZHANG,Xiaoou ZHONG. Research on stiffness and end deformation of nuclear related operation robot. Chinese Journal of Engineering Design, 2025, 32(5): 655-663.

URL:

https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2025.05.124 OR https://www.zjujournals.com/gcsjxb/Y2025/V32/I5/655

涉核作业机器人刚度与末端变形研究

涉核作业机器人的齿轮传动链较长，自重较大。为了评估自重和负载导致的机器人末端变形情况，以进行设计优化和变形补偿，需要研究机器人刚度与末端变形。首先，通过分析涉核作业机器人的结构及传动原理，基于D-H（Denavit-Hartenberg）法设立了考虑关节偏置的机器人连杆坐标系，并进一步建立了机器人运动学模型；其次，针对机器人因自重和负载作用产生的关节力矩和末端变形，提出了一种将机器人传动关节视为柔性部件来求解关节扭转刚度、基于伯努利-欧拉梁假设理论求解机器人连杆刚度的求解方法，综合得到了机器人末端变形模型；最后，通过有限元方法对机器人末端变形进行仿真分析，并进行了实验测试，验证了末端变形模型的准确性。所提出的机器人末端变形建模方法对机器人的设计优化和末端变形补偿具有一定的借鉴价值。

关键词： 涉核作业机器人, 全齿轮耦合传动, 刚度, 末端变形

Fig.1 Structure and transmission principle of nuclear related operation robot

Fig.2 Structure of transmission system of robot

Fig.3 Link age coordinate system of robot

连杆	$α i - 1$ / (°)	$a i - 1$ /mm	d_i /mm	θ_i / (°)
1	180	0	d₁	θ₁ (90)
2	90	0	0	θ₂ (90)
3	0	$a 2$	-d₃	θ₃
4	180	$a 3$	d₄	θ₄ (90)
5	90	0	d₅	θ₅
6	90	0	d₆	θ₆

Table 1 Linkage D-H parameters of robot

Fig.4 Schematic of mass and centroid of each part of robot

Table 2 Centroid coordinates of each part of robot

Fig.5 Meshing stiffness curve for a single pair of gear teeth within a meshing cycle

Fig.6 Deformation of connecting rod

Fig.7 End deformation nephogram of robot under self-weight action

Fig.8 Robot poses

Fig.9 End deformation amount of robot


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