摘要
针对复合肥生产的高粉尘强腐蚀环境,设计了一种能够替代人工作业的取样机器人。分析使用需求,提出具有抗冲击、耐腐蚀、自清洁、传动机构内置、驱动远离末端执行件安装等特征的取样机器人设计原则。从仿生学角度出发,通过对螃蟹运动关节结构特征研究,提出取样机器人构型,进行了功能仿生和结构仿生设计。根据其使用工况,设计了取样机器人运动过程和控制方案。通过机构参数优化、仿真和冲击试验,验证了其可行性。
In order to release the fertilizer production workers working in high dust and strong corrosive environment for a long time,a sampling robot was designed.By analyzing the using demand,robot＇s designing principles including characteristics of impact resistance,corrosion resistance,cleaning by itself,transmission mechanism built-in and drive away from the end piece installed was proposed.From the angle of bionics,the crab joints＇ structure characteristic was researched.Then sampling robot configuration was proposed.Bionics function and structure was designed.According to its operation condition,motion process and control plan was designed.After the parametric optimization,its feasibility was validated by simulation and impact test.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2011年第8期219-223,227,共6页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家高技术研究发展计划(863计划)资助项目(2009AA04Z205)
