摘要
“穿地龙”机器人是一种特种机器人,理想状态下可在土中克服阻力自主行走,由于吸收了非开挖施工中气动冲击矛的设备简单、操作方便、投资较小和施工成本低等优点,再加之高可靠性、高智能型、自适应性强等机器人思想的设计长处于一体,将大大提高非开挖施工的技术水平.文中通过对国内外非开挖技术中的方向可控气动冲击矛转向机理的研究,提出了“穿地龙”机器人转向机构的设计方案,包括转向机构设计、液压控制系统.从理论上分析了该方案的可行性,运用有限元计算方法校核了机器人头部和转向机构关键零部件的强度,并对机器人头部进行了运动学仿真,为“穿地龙”机器人的转向进而实现方向可控提供了参考.
A deflecting mechanism based on trenchless technology was designed for a steerable air-powered impact mole robot. The design scheme for the one-of-a-kind robot, nicknamed ＂Dragon for Puncturing Mud,＂ included the design of a unique turning device and hydraulic pressure controlling system. The design scheme was proved feasible by theoretical analysis and the intension of key parts in the robot head was checked by finite element analysis. Robot head kinematics imitation provides a reference for robot turning and realizing more direction control for similar robots.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2006年第1期123-127,共5页
Journal of Harbin Engineering University
基金
黑龙江省科学技术计划(攻关)基金资助项目(2001010100500)
