摘要
设计了可达到技术要求的管内移动机器人机构。为验证其实际性能,利用虚拟样机技术建立了驱动轮变径特性仿真实验平台。通过仿真,详细分析了变径过程的动态力学特性,仿真结果与理论分析吻合。为衡量机器人机构设计的合理性提供了评价依据,成功实现了机器人样机的制造。
The inside pipe mobile robotic mechanism that could attain the technological requirements was designed. For the sake of verifying its actual performance, the simulative experimental platform with variable diameter characteristics of driving wheel was established by the use of virtual prototype technology. By means of simulation the dynamic mechanics characteristics during the process of diameter variation were analyzed in detail, the result of simulation coincides with the theoretical analysis. Thus provided bases of evaluation for measuring the rationality of the mechanism design of robot, and the manufacturing of robot＇ s prototype was successfully achieved.
出处
《机械设计》
CSCD
北大核心
2009年第8期34-37,共4页
Journal of Machine Design
基金
哈尔滨工业大学(威海)校基金资助项目(HIT(WH)200515)
关键词
管内移动机器人
变径机构
ADAMS仿真
inside pipe mobile robot
variable diameter mechanism： ADAMS simulation
