摘要
提出了基于齿轮齿条传动的爬升机构,从系统的实际运动规律以及装置翻转爬升运动情况出发,建立了系统运动数学模型,在保障稳定裕度的前提下确定了初始爬升角,得到最优爬升姿态;采用有限元分析的方法对关键零件进行分析。同时,从提高装置自动化程度方面出发,建立了翻转爬升过程的控制流程图,为控制系统设计奠定了基础。
A climbing mechanism based on the gear rack transmission is proposed. From the actual motion of the system and the device flip climbing movement conditions,the mathematical model is built,on the premise of guarantee stability margin,the optimal climbing posture is got. The key parts are analyzed by using the finite element analysis method. At the same time,from the standpoint of improving the degree of automation of device,the flip climbing progress control flow chart is established,the foundation for control system design is provided.
出处
《机械传动》
CSCD
北大核心
2016年第9期100-103,共4页
Journal of Mechanical Transmission
关键词
齿轮齿条传动
爬升机构
数学模型
控制流程
Gear rack transmission
Climbing mechanism
Mathematical model
Control flow
