摘要
以管道机器人为对象,设计了一种用于其适应管径变化的支撑臂,针对该支撑臂机构存在的奇异性(又称死点)和启动力大的问题,提出了斜面-滚轮结构的设计。该设计通过在连杆和推杆分别设计一段斜面和滚轮,将机构的展开过程分为两个阶段,解决了奇异性的问题,同时极大减小了机构在小角度展开时所需推力,解决了启动力大的问题。论文对设计的机构展开过程进行了建模和分析,并在MSC.ADAMS上进行了运动仿真,与无斜面-滚轮设计的四杆机构进行比较,验证了设计的可行性和优越性。
Taking the in-pipe robot as the oubject, a four bar linkage used as the arm which could adapt to the change of the pipe diameter was designed and analyzed. To solve the arm＇s problems of singularity and huge start force, a mechanism with bevel and idler wheel was proposed. By designing a bevel and idler wheel in the linkage and the driven bar, the deployment process was divided into two separated periods, then the problem of singularity can be solved, and also the start force can be reduced. The mechanism＇s deployment process, especially the process within small angle, was modeled and analyzed. Then the simulation was done in MSC. ADAMS, whose result showed that the analysis was correct. Compared to the simulation result of the common mechanism without bevel and idler wheel design, the new design was very advanced and could solve the existing problems.
出处
《机械设计与研究》
CSCD
北大核心
2008年第6期64-67,共4页
Machine Design And Research
基金
国家863高技术研究发展计划资助项目(2007AA04Z256)
