摘要
排爆机器人是一种由激光引导与抓取系统、本体行走装置组成的机器人,可以代替相关人员进行一些危险作业。所研究的抓举系统主要由基座、后臂、前臂、机械手爪四部分组成,关节处的旋转和机械手爪开合均由舵机驱动。机械臂在俯仰过程中,为克服机械臂本身和外部负载产生的重力矩,需要舵机提供较大驱动力。为降低舵机提供的驱动力,提出对前臂采用恒推力气动平衡杆以平衡机械臂本身和外部负载,确定优化变量、约束条件和目标函数;利用MATLAB软件进行优化分析,得到气动杆最佳安装位置和最佳力,输出运动仿真图形,并验证所得优化结果的正确性。
Explosive ordnance disposal robot is composed of laser guiding and grasping system and body walking device. It can replace related staff to do some dangerous work. The researched robot’ s grasping system was mainly composed of a base, postbrachium, antebrachium and gripper. The rotation of the joint and the opening and closing of the mechanical hand were driven by the dynamixel. In order to overcome the torque generated by the robot arm and the external load, it was necessary to provide a proper driving force on the steering gear. Constant pneumatic balance rod was adopted to balance the mechanical arm and external load. The optimal variables, constraints and objective function were determined.Optimization analysis was carried out using MATLAB software, getting the best pneumatic rod installation position and the force. The motion simulation graphics were gotten and the correctness of the optimization results was verified.
作者
尹逊敏
张兴蕾
刘勰
YIN Xunmin;ZHANG Xinglei;LIU Xie(School of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao Shandong 266590,China;Department of Mechanical and Electrical Engineering,Zaozhuang University,Zaozhuang Shandong 277160,China)
出处
《机床与液压》
北大核心
2018年第21期84-86,共3页
Machine Tool & Hydraulics
关键词
机械臂
气动杆
优化
Mechanical arm
Pneumatic balancing mechanism
Optimization
