绳索牵引自动水平调节机器人的设计

Design of a cable-driven self-leveling robot

为解决装卸过程中贵重载荷的水平调节问题,在分析了现有调节技术和装置优缺点的基础上,设计了绳索牵引自动水平调节机器人完成倾角调节.介绍了绳索牵引自动水平调节机器人的总体结构设计,根据力平衡、力矩平衡以及几何约束条件推导了系统的二维模型,用相似的方法从2种不同思路分别建立了系统的三维模型,讨论了2模型各自的优缺点.简要说明了控制系统的相关问题(结构设计、原理)和系统基本工作流程,总结了机器人系统的主要特点.

In order to solve the level-adjusting problem of costly payloads when loading and unloading,we design a cable-driven self-leveling robot to accomplish the obliquity adjustment,based on the analysis of advantages and disadvantages of current adjusting techniques and mechanisms.In this paper,the general structure of the robot is introduced firstly.And then,the system′s 2D model is deduced in detail according to force equation,moment equation principles and geometry restrictions.Similarly,two 3D models are est...