摘要
介绍了水轮机叶片表面修补机器人的用途、特点和关节结构，推导、求解了与磨削轨迹有关的机器人运动方程，并在ＭＡＴＬＡＢ软件环境下进行了仿真．仿真结果证明，该方法简单易懂。
The usage, characteristics and joint construction of turbine blade repair robot for hydroelectric power plant are described. The robot kinetic equations related to given grinding track is deduced and solved. Simualation was done with the help of the MATLAB software.
出处
《哈尔滨理工大学学报》
CAS
2000年第4期29-32,共4页
Journal of Harbin University of Science and Technology
关键词
水轮机
机器人
仿真
叶片修补
hydro turbine, repair, robot, simulation
