摘要
随着核电业的快速发展,核电站对水下机器人的使用要求不断提高,并逐渐催生出一种水下爬行与潜浮双功能机器人,在此基础上提出一种水下爬行与潜浮机器人通用的机械手设计方案,通过正逆运动学分析、机械手工作空间的求解与仿真以及基于SolidWorks运动仿真模块的仿真与计算,验证了该机械手设计方案满足要求以及搭载在爬行式和潜浮式机器人上作业的要求。建立了运动学模型,得到了运动学特征方程,解出了机械手运动学正解和逆解,以及工作空间仿真系统,为之后的机械手动力学分析、实时控制和轨迹规划提供了重要的理论基础。
With the development of the nuclear power industry, the use of nuclear power plant for underwater robot requirement enhances unceasingly, and gradually create a dual function creep and dive underwater robot, on this basis a new kind of dedicated manipulator design for underwater crawling and diving robot was introduced. Work performance of the manipulator proved to be good by means of positive and inverse kinematics analysis, solving and simulation of manipulator workspace and simulation based on SolidWorks simulation module. It can meet the request of the workspace of underwater manipulator either crawling or diving Mathematical models were established and the kinematic equations was obtained. Positive and inverse kinematic solutions and the simulation system of work space were worked out. In addition, it provided an important theoretical basis for dynamics analysis and real-time control and the trajectory planning.
出处
《机械》
2015年第6期50-55,共6页
Machinery
基金
中国科学院"西部之光"人才培养计划(A14K002)
