城市下水道清淤移动式机械手系统设计

Design of a Mobile Manipulator System for Sullage Disposal in Urban Areas

设计一种可手动/远程控制的移动式清淤液压驱动机械手系统.分析其机械手机构、液压驱动与控制和可编程电器控制的功用、工作原理、组成结构,研究和设计其相关的运动学和动力学.通过可编程控制器,可实现对抓子、回转台上回转臂和升降臂的控制,完成清淤操作.提出抓取率的概念和抓端理想轨迹线,分析实际轨迹线及特性要求,推导出抓端运动方程,实现了作业的高效率和过程控制的自动化.

A mobile manipulator system with manually operated remote control and hydraulic servo-device is designed for sullage disposal in urban areas. The function, working principle and configuration of the 3 parts, i. e. , the mechanical system, the hydraulic-servo device and the programmable logic controller （PLC）, are analyzed, moreover, the kinematics and dynamics of the manipulator system are analyzed for the further control. The sullage-disposal operation is implemented by the manual operated panel to make the PLC to manipulate the claw device, the swivel arm on the turning table and the lifting arm. The kinematic equation of the claw device is derived with the definition of the catch ratio and the ideal trajectory of the claw device, and with the analysis of its real trajectory and the performance requirement, so that the operation with high efficiency and automation of the process control could be realized.