摘要
针对海洋平台导管架结构的复杂性与工作环境的特殊性,研制了一种8自由度的海洋平台导管架清洗机器人,该清洗机器人具有沿导管架空间进行攀爬及定位功能,通过夹持机构携带高压水射流喷枪来实施对导管架的清洗。基于该清洗机器人的构型特征与机器人动力学原理,采用大功率关节分时单步驱动与小功率关节多轴联动相结合的控制策略,进行了机器人在导管架上的运动规划。利用Matlab语言对清洗机器人在导管架上的行走步态进行了仿真,详细分析了机器人在攀爬过程中各关节的扭矩与功率间的变化关系。
According to the complexity of jacket structure and the particularity of its working environment, an 8 DOF robot for offshore platform jacket cleaning is developed in this paper. The robot climbs along jacket,carries high pressure water jet. On the basis of robot dynamics, the control strategy of high duty driven joint single step and low-duty joint linkage is adopted and the motion planning of the robot is analyzed in this paper. Appling Matlab technique, the walking gait of the robot is simulated, and the relationship between the torque and the power of the robot during the climbingprocess is analyzed in detail.
出处
《机械设计与制造》
北大核心
2017年第4期250-252,共3页
Machinery Design & Manufacture
基金
天津市科技支撑计划重点项目(13ZCZDGX01500)
国家"十二五"科技支撑计划项目(2015BAK06B04)
