液下搅拌机器人的运动学分析

Research on Kinematics of Roboticized Pug Mill Working Under Water-coal Slurry

液下搅拌机器人可取代传统的大型机械搅拌装置,具有体积小,能耗少等优点。对这种轮式移动机器人的运动学特性进行了详细分析,推导出了前轮驱动时机器人车体上的各个主动关节和非主动关节的运动参数计算公式,从而为进一步进行动力学分析和建立机器人运动控制模型奠定了基础。

The roboticized pug mill working under water - coal slurry which has the advantage of small - volume and less consumed energy can supersede the traditional mechanical chum- dasher. The characteristics of the kinematics of the robot are analyzed in detail, the equations calculating the speeds of active joints and inactive joints of the robot body are put forward when the fore - wheels of the robot are driving. The result is important to further analysis on the dynamics and the control technology of the robotieized pug mill.