【摘要】 针对核废料桶密封操作中人工干预风险高、传统自动化设备刚度不足及环境适应性差等问题，设计了一种高刚度模块化三自由度取封盖机器人系统。该机械系统由基础框架、移动机构、升降机构及集成式末端执行器（含旋转-抓取-拧紧复合功能）构成，创新性采用双闭环连杆升降机构与蜗轮-行星复合减速系统，实现重载工况下的精密可靠传动。建立升降机构闭环矢量方程，采用遗传优化算法对结构尺寸进行多目标优化设计，进而确定关键结构尺寸参数。基于有限元模型对关键部件进行力学性能分析：基础框架最大von Mises应力6.445 MPa（安全系数36.4），移动车体变形量0.055 mm，拉杆系统最大应力3.479 MPa（安全系数67.5），均显著低于Q235碳钢许用应力；末端执行器集成平台最大应力6.747 MPa（安全系数34.8），变形量0.0139 mm。本研究为放射性环境下的自动化密封作业提供了基于数值仿真的多目标结构优化设计方案与力学评估体系，确保其符合核工业应用的苛刻要求。更多还原

【Abstract】 To address the challenges of high human intervention risks, insufficient stiffness and poor environmental adaptability of conventional automated equipment, in the sealing operations of nuclear waste containers, this study proposes a high-stiffness modular 3-DOF robotic system for closure grasping and sealing. The mechanical system comprises a base frame, locomotion mechanism, lifting mechanism, and an integrated end-effector(combining rotary, gripping, and tightening functions). Innovations include a dual closed-loop linkage lifting mechanism and a worm-gear-planetary compound reduction system, enabling precise and reliable power transmission under heavy-load conditions. A closed-loop vector equation for the lifting mechanism is established, and a genetic optimization algorithm is employed for multi-objective optimization design of structural dimensions, thereby determining the key structural dimension parameters. The key structural dimensions and parameters have been determined using a genetic optimization algorithm. Parametric finite element models were established to evaluate the mechanical performance of critical components: the base frame exhibits a maximum von Mises stress of 6.445 MPa(safety factor: 36.4), the mobile chassis shows a deformation of 0.055 mm, and the tie-rod system achieves a maximum stress of 3.479 MPa(safety factor: 67.5), all significantly below the allowable stress of Q235 carbon steel. The integrated end-effector platform demonstrates a maximum stress of 6.747 MPa(safety factor: 34.8) and a deformation of 0.0139 mm. This research provides a numerical simulation based structural design methodology and mechanical evaluation framework for automated sealing operations in radioactive environments, ensuring compliance with the stringent demands of nuclear industrial applications.更多还原