清洗机器人样机操作臂结构参数优化

Configuration Parameter Optimization of the Manipulator of a Kind of Cleaning Robot

高层建筑清洗机器人是应用于高层建筑外墙清洗作业的一种特殊作业机器人。本文以样机为原型 ,通过理论分析与计算机仿真 ,对其进行了旨在改善偏重力矩的结构优化。不但使结构更趋于合理化 ,而且保证了操作性能良好。本文对该机器人的产业化研究有直接的指导作用 。

The high building cleaning robot is a special robot used to outer wall cleaning of high buildings. Based on the prototype, through theoretical analysis and simulation, the configuration optimization is specially studied to improve slanting gravity torque. Not only the configuration is more rational, but the operational performance is better. This paper directly promotes the robot's transform from prototype to products. It can also be a reference for the optimization of other robots.