Design and Analysis of Intelligent Robot Arm for FAST Operation and Maintenance

2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE) Pub Date : 2022-12-16 DOI:10.1109/ICARCE55724.2022.10046453

Hongxi Ren, Ligang Qiang, Lin Li, Taokang Xiao, Dingan Song, Zhiyuan Zhang

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Abstract

In view of the long-term operation and maintenance needs of the Five-hundred-meter Aperture Spherical radio Telescope (FAST) feed cabin, focusing on the practical problems of limited installation space of the feed cabin, numerous disassembly and assembly bolts, low disassembly and assembly efficiency of the feed cabin and high cost, an intelligent robot arm integrating positioning, identification and disassembly is designed. Through the stability analysis of the control system, the amplitude margin is 5.69dB and the phase margin is 49.1deg, meeting the system stability requirements. Through finite element static analysis, modal analysis, harmonic response analysis and test verification, the effective operation and maintenance radius of the robot arm is 1.5m, the maximum torque can reach 130N·m, and the movement space is ±170 °, which can realize the rapid disassembly and assembly of M8 bolts and M12 bolts, and provide technical support for the operation and maintenance of FAST feed cabin.

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面向快速运维的智能机械臂设计与分析

针对500米口径球面射电望远镜(FAST)进给舱长期运行维护的需要，针对进给舱安装空间有限、拆装螺栓众多、进给舱拆装效率低、成本高等实际问题，设计了一种集定位、识别、拆装于一体的智能机械臂。通过对控制系统的稳定性分析，其幅值裕度为5.69dB，相位裕度为49.1°，满足系统稳定性要求。通过有限元静力分析、模态分析、谐波响应分析和试验验证，该机械臂的有效运维半径为1.5m，最大扭矩可达130N·m，运动空间为±170°，可实现M8螺栓和M12螺栓的快速拆装，为FAST进给舱运维提供技术支持。

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2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE)

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