摘要
JZ-3是专门用于修复被气蚀和磨损的水轮机转轮的机器人,由在导轨上移动的小车、三节机械臂和两个转动关节组成,有包括1个移动和5个转动的6个自由度。本文基于拉格朗日方程的功能平衡法,构建了JZ-3机器人的动力学模型,对其中的惯量项、重力项和雅可比矩阵等参量进行了深入分析,建立了相应的算法,为实现机器人力的自适应控制奠定了基础,并对i-1g算式进行了修正。
JZ-3 Robot is used for welding and grinding for repairing hydraulic turbines damaged by cavitation and wear in hydro power plants. For the special working conditions, JZ-3 Robot should meet some requirements, such as small volume, light weight, easy movement from one stream channel to another. The structure of JZ-3 Robot is carefully analyzed with its six degrees of freedom, including the track, moving car, arm of three degrees of freedom, wrist of two degrees of freedom. A dynamic model of JZ-3 robot is built, based on Lagrange Equation. The terms of inertia gravity and Jacobian matrix are analyzed and calculated, which can provide a basis for the self-adapted control of the forces of the robot and also for motion planning and motion simulation.
出处
《科技导报》
CAS
CSCD
北大核心
2009年第2期70-72,共3页
Science & Technology Review
基金
黑龙江省教育厅科学技术研究项目(10541042)
